Major Project Report on

FPV Surveillance Drone

Submitted in partial fulfillment of the requirements
for the degree of
Bachelor of Engineering
In
Electronics and Telecommunication Engineering

By

Mr. Adwait Deshmukh (TU2F1920014)

Mr. Durgesh Mahale (TU2F1920026)
Ms. Premlata Prasad (TU2F1920028)
Ms. Vaishnavi Singh (TU2F1920031)

Under the guidance of

Dr. Shilpa Kharche

Department of Electronics and Telecommunications

Engineering
TERNA ENGINEERING COLLEGE, NAVI MUMBAI
UNIVERSITY OF MUMBAI

(2022-2023)
 CERTIFICATE

This is to certify that the project entitled “FPV Surveillance Drone” is a bonafide work of

“Mr. Adwait Deshmukh (TU2F1920014)

Mr. Durgesh Mahale (TU2F1920026)
Ms. Premlata Prasad (TU2F1920028)
Ms. Vaishnavi Singh (TU2F1920031)”

submitted to the University of Mumbai in the partial fulfillment for the award of the “Bachelor
of Engineering” in “Electronics and Telecommunication Engineering”.

Dr. Shilpa Kharche

Guide

Dr. Jyothi Digge Dr. L. K. Ragha

Head of the Department Principal

ii
 Project Report Approval

This Project Report entitled “FPV Surveillance Drone” by

“Mr. Adwait Deshmukh (TU2F1920014)

Mr. Durgesh Mahale (TU2F1920026)
Ms. Premlata Prasad (TU2F1920028)
Ms. Vaishnavi Singh (TU2F1920031)”

is approved for the degree of “Bachelor of Engineering” in “Electronics and

Telecommunication Engineering”.

Examiners:

1.

2.

Date:
Place:

iii
 Declaration

I declare that this written submission represents my ideas in my own words and where
others’ ideas or words are not included. I have adequately cited and referenced the original
sources. I also declare that I have adhered to all academic honesty and integrity principles and
have not misrepresented, fabricated, or falsified any idea/data/fact/source in my submission. I
understand that any violation of the above will be a cause for disciplinary action by the institute
and also evoke penal action from the sources which have thus not been properly cited or from
whom proper permission has not been taken when needed.

NAME ID NO. SIGN

Mr. Adwait Deshmukh (TU2F1920014)

Mr. Durgesh Mahale (TU2F1920026)
Ms. Premlata Prasad (TU2F1920028)
Ms. Vaishnavi Singh (TU2F1920031)

iv
 Acknowledgment

I would like to thank our guide Dr. Shilpa Kharche, for her guidance and encouragement.
She has been an excellent mentor and helped to overcome the difficulties and limitations we faced
since the beginning of this project she not only made us aware of the importance of this project but
also asked us to add new features which not only enhance the quality of the project but also help the
society in large.

I am deeply indebted to Dr. L. K. Ragha, Principal, and Dr. Jyothi Digge, HOD Department
of Electronics and Telecommunication Engineering. They supported us with scientific guidance,
advice, and encouragement and were always helpful and encouraging.

I would like to sincerely thank “Terna Engineering College, Nerul” for allowing me to
undertake this dissertation and for providing all the necessary facilities required for this project. I
am also grateful to the lab assistants who were always ready to extend a helping hand. Finally, I
would like to thank all my friends and family members for their unrelenting support and
encouragement.

Mr. Adwait Deshmukh (TU2F1920014)

Mr. Durgesh Mahale (TU2F1920026)
Ms. Premlata Prasad (TU2F1920028)
Ms. Vaishnavi Singh (TU2F1920031)

v
 Table of Contents

Page No.
Certificate ................................................................................................................... ii
Project Report Approval ............................................................................................ iii
Declaration.................................................................................................................. iv
Acknowledgment........................................................................................................ v
Abstract ...................................................................................................................... viii
List of Figures………………………………………………………………………. ix
List of Tables………………………………………………………………………... x

Chapter 1. Introduction ............................................................3

1.1 Background ....................................................................................3
1.2 Aim and Objective of the Project ...................................................3
1.3 Problem Definition .........................................................................4
1.4 Scope ..............................................................................................................4

Chapter 2. Review of Literature ..............................................5

Chapter 3. Proposed System and Methodology .....................8
3.1 Proposed System ...........................................................................8
3.1.1 Overview ..............................................................................8
3.1.2 Advantages............................................................................8
3.2 Methodology ..................................................................................9
3.2.1 Hardware Description ..........................................................10
3.2.2 Software Description ...........................................................10

Chapter 4. Analysis and Design ...............................................11

4.1 Design ............................................................................................12
Chapter 5. Fabrication ...............................................................24
5.1 Fabrication ………………………………………………………24
5.2 Assembly ………………………………………………………..25
5.3 Testing …………………………………………………………..27

vi
 5.3.1 Errors…………………………………………………………..28
Chapter 6. Conclusion ................................................................29

Reference ....................................................................................30

vii
 Abstract

It is proposed to design and fabricate a Drone for Surveillance which is of quadcopter

configuration mounted First Person View camera (FPV) to record the video using an F4 OR F7
series flight controller, a Transmitter to transmit the video signal to the receiver at the ground
using an analog VTX(CADXX/XILO/RUSHTANK), an X-quadcopter configuration Plastic
Frame but optimally we can use a carbon fiber material but it can increase the cost significantly,
4 Brushless (2200 Kv) Direct Current motor (BLDC with suitable propellers to produce required
thrust and suitable Lithium-Polymer (Li-Po) battery of 1000-1500Mah capacity and 4S-6S to meet
necessary current and voltage requirements. This Drone is designed with a high Thrust Weight
ratio to have a quick response during its operation and its stability is also well maintained by
nullifying the rotational Moments produced in the rotors. The combination of the drone, long-
range surveillance capability, and secured data communication makes the system ideal for
addressing security-related challenges in critical areas on guarded premises.

The project components are finalized on the basis of drone speed requirements as well as a
comparison based on availability in the market and their specifications. A flight controller is
designed and fabricated. All the components of an FPV drone are assembled together including
frame, motors, flight controller etc. A speed test is carried to verify if the speed objective is
achieved.

viii
 List of Figures

Figure name Page no.

Workflow of FPV Surveillance Drone 9
Block diagram of FC board 17
Schematic Diagram of FC board 17
Software Model of Flight Controller 19
3D Representation of Flight Controller 19

ix
 List of Tables
Table Name Page No.
List of FPV drones available in the market 5-6
Frame size versus Motor size table for FPV Surveillance Drone 12
Type of STM Processor

x
 CHAPTER 1

INTRODUCTION

A drone or unmanned aerial vehicle as the name suggests is a kind of vehicle that flies over
in the sky but with no human inside. Though humans are not aboard this vehicle and on the
ground due to its compact nature, the task of helping in a smooth flight is not a possibility
without the support of humans. Drones are used widely in photography, leisure activities,
entertainment, or to record video games and events that cover a relatively large area that does
not fall within the range of human visibility. Its ability to fly high and provide large coverage
is of utmost importance to mankind.

1.1 Background

Drones are used for military tasks as well to gather intelligent information about the enemy
and pre-attack to make better plans to take down the enemy with lower casualties. This
technology is also of use in large zoos to keep an eye on the inhabiting animals. It is used in
many fields to pick and drop material as well. For the design of such drones, it is very necessary
to bear in mind the weight of the load that is to be transported during the selection of the
component for the making of the drone. The drone finds its use in any and every kind of
situation and place where the physical presence of a human is uninvited or dangerous.
FPV refers to First-Person View. In technical terms, FPV is a method used to control a radio-
controlled machine from the driver’s or pilot's point of view. Here we mostly refer to FPV
with flying/driving remotely controlled machines, mostly electrical, from the first person. FPV
lets you become your drone: quadcopter, plane, robot, vehicle, or whatever machine that can
be remotely controlled. FPV perspective gives you the ability to immerse into a robotic
structure and control it as you become one.

1.2 Aim and Objective

After conducting a survey, we came across many drones which are available in the market
but every drone had a certain limitation. The main limitation of most drones was their speed.
Despite the high cost, they do not meet the expectation in terms of speed. The main aim of the
project is that we will achieve maximum speed at a comparatively low cost.
3
1.3 Problem Definition

The task at hand is to design and build a drone that meets the specific speed
requirements while also designing the Flight Controller (FC) for optimal performance.
The drone should be capable of reaching a top speed of at least 80 km/hr and can exceed
to a maximum of 100 km/hr. In addition to the drone design, the Flight Controller (FC)
needs to be developed to provide precise and responsive control of the drone's movement.
The FC should be capable of handling the high-speed requirements and provide accurate
and stable control to maintain the drone's stability.

Overall, the challenge is to design and build a high-speed drone that can meet the specific
speed requirements while providing stable and precise flight control through the use of
an advanced Flight Controller.

1.4 Scope

After coming across the problem of the cost justification our main goal of the project is that
we will achieve a maximum speed at a comparatively low cost. Cost cutting will be done in
all the components of the drone but will not affect the features of the drone.

4
 CHAPTER 2

LITERATURE REVIEW

To acquire a better understanding of the topic and analyze the drone’s specifications that are
available in the market we did primary research. Analyzing the specification of various drones
is important for deciding the components which can deliver the required specification.

Table 2.1 List of FPV drones available in the market

NAME OF SPEED CAMERA WEIGHT RANGE BATTERY FRAME STRUCTURE

DRONE (km/h) RESOLUTION (gm) (m) LIFE SIZE
(p) (minutes)
1)Holy 50 1080 x 720 68.9 50 – 70 5-7 7.5-inch plastic
Stone X 8.5
HS150 Bolt inch
Bee Mini
Racing
Drone[1]

55 1080 315 4023 25 Carbon fiber

2)Parrot 153 X
Anafi – 152 X
FPV 116 mm
Drones – by
Parrot[2]
3)Parrot 16 – 20 MP 73 100.58 10 7.09 in Lithium-ion
Mambo 29.88 x 7.09 Polymer
FPV – by in
Parrot[3]

4)Bolt 48.28 1280 x 720 226 126.78 12-15 10.5 in Carbon fiber
Drone FPV x 10.5 x
Drones with 3.8 in
Goggles –
by Bolt
Drones[4]
5) EMAX 80 480 x 800 43.5 100 7 90 x Carbon fiber
tinyhawk[5] 104 x sheet /
19 mm messing
6) Hubsan 10 720 116.5 150 6 3.7-inch Rubber
H122D X4 x 3.7
Storm inch
Professional

5
Version
FPV Racing
Drone – by
HUBSAN[6]

7) EMAX 14 720 265 126 6-8 4.5-inch Carbon fiber

Hawk Pro x 4.5
FPV inch
Drone[7]

8) Dji fpv 140 1080 795 10000 20 255 x Carbon fiber

combo[8] 312 x
127 mm
9) I-flight 140 As per camera 560 100 7 90 x Carbon fiber
Nazgul 5[9] 104 x
19 mm
10) Beta 25 800 x 400 35 100 5 72 x 72 Polymer
Fpv Cetus x20
fpv[10]

The above table is a detailed analysis of the drones that are available in the market. The
analysis is done based on certain parameters such as speed, resolution, flight time, battery life,
etc. We will have a look at these parameters one by one.

• Speed
In case of surveillance or any emergency speed of a drone plays a very vital role. It is
essential to attain the maximum speed possible in such cases. High speed provides high
mobility for the drone. Hence the speed of the drone matters.
As shown in the table row no 8 and 9 DJI and I flight respectively gives the maximum
speed but the flight time of the I flight is less.
• Resolution
Better resolution of the drone easier navigation. It can also be used for photography
and videography.
As shown in the table row no 4 Bolt drone has the highest resolution. The reason for
the good resolution is the installation of a better camera.
• Weight
The lighter the structure, the more efficient it operates, the longer range it can cover,
the greater payload it can carry, and the longer it can stay aloft.
6
 From table row, no.10 Beta FPV drone is the lightest of all but the battery life of this
drone is very poor. The number of batteries installed in this system is less which makes
it lighter in weight but affects the flight time.
• Range
A drone should have a wide range so that it can cover the maximum geographical area.
There are certain remote areas where human access is not possible, in such areas drones
with more range work well because we can operate them from a safe place without
compromising safety.
From the table row, the no. 8 DJI FPV drone has the maximum range. The VTX and
RTX used in this system are of a more powerful series which results in covering the
maximum range possible.
• Battery Life
The time for which a drone can fly is determined by the life of the batteries used in it.
If the batteries do not have a good life the flight time will eventually decrease too.
From the table row, no. 2 Parrot Anafi-FPV drone has the maximum battery life. It
depends fully on the number of batteries.
• Frame Size
Frame Size has a great impact on the characteristics of a drone. They have an impact
on stability, flight time, speed, and almost every other aspect of the drone. The frame
size should be more than 5”. Any thinner than this will break too easily and be too
flexible for a good flight.
From table row, no. 4 Bolt FPV drone has a good frame size.
• Structure
The material of the frame should be lightweight. The most ideal material for the frame
is carbon fiber. Carbon fiber is inherently lightweight with a density of around 2 grams
per cubic centimetre (g/cm3)
From Table rows 2, 4, 5, 7, 8, and 9 all these drones have carbon fiber frames.

7
 CHAPTER 3

PROPOSED SYSTEM AND METHODOLOGY

3.1 Proposed System

Designing a quadcopter FPV drone based on the problem statement mentioned above in the
introduction. This drone will be designed such as to achieve a minimum speed of 80 km/hr
and a maximum of 100 km/hr and also make our flight F4 controller for our drone.

3.1.1 Overview

A drone is just a remote-control flying device. Where remote control devices have been around
for decades, it has become popular to introduce intelligence into the device allowing them to
be controlled with smartphones or other mobile devices. There are a wide variety of drones
with a lot of different capabilities. Some of them may simply stream video back to the
controller, which may mean there is nothing on the device itself. A drone like the Parrot
BeBop, though, has 8 gigabytes of storage on board and the device itself runs Android.
Additionally, it has a USB connector, allowing you to plug your drone into your computer to
extract data that is being stored on the drone.

3.1.2 Advantages

FPV flying serves up an incredible real-time experience, and the perspective has several big
advantages. You get more precision, which is crucial for racing drones, and a cinematic
perspective that you do not get from the ground. This drone will be used for military purposes
so the prime advantage would be its ability to reduce the risk to human lives. War zones are
extremely dangerous, and war journalists would normally need to risk their lives to record
events as they unfold. Using drones, journalists can record the destruction of war without
compromising their safety. This makes it possible to accurately represent the reality of war
using first-hand visual accounts filmed in real war-afflicted areas.

8
3.2 Methodology

In the initial stage of our project, we studied the drones which are available in the market. We
went through their work and acquired knowledge of all their parameters.

Requirement
Analysis

System-
Hardware Design

Implementation

Testing

Deployment

Figure 3.2 Workflow of FPV Surveillance Drone

The above chart shows the workflow of our project. This represents the necessary steps
involved in our project. One of the main works of our project is designing the FC board
(Flight controller) and the FPV drone. The design of the FPV drone is shown below:

3.2.1 Hardware Description

1. Frame: Mark 4 5” 225 mm FPV frame

2. 4 Motors: A2212 2200 KV
3. ESC: 30amp esc
4. Camera: Run Cam 1500 TVL Mini
5. VTX: Rush tank
6. Battery: CNHL Black series 1500 mAh 14.8V 4S 100C Lipo Battery
7. Power distribution board with XT60 Connector
8. Remote Control: Fly sky CT6B
9. Team designed Flight controller

9
3.2.2 Software Description
Beta flight: Betaflight is an open-source firmware used to control and tune multirotor drones.
It is one of the most popular firmware choices for quadcopters, hexacopters, and other
multirotor platforms due to its extensive features and customization options. Betaflight is
developed by a team of volunteer developers and is continually updated with new features and
improvements. The firmware runs on a flight controller, a small circuit board that manages the
drone's flight dynamics and interfaces with sensors such as accelerometers and gyroscopes.
One of the standout features of Betaflight is its user-friendly graphical user interface (GUI)
that allows users to configure and tune their drones quickly and easily. The software also
includes advanced features such as black box logging, which records flight data for analysis,
and PID tuning, which enables users to fine-tune the drone's stability and performance.
Betaflight supports a wide range of flight controllers and hardware configurations, making it
a versatile firmware choice for hobbyists and professionals alike. Its active development
community also provides ample support and resources for users to troubleshoot issues and
customize their drone's features. Overall, Betaflight is a powerful and customizable firmware
that offers a range of advanced features and tuning options for multirotor drones. Whether you
are a seasoned drone pilot or just starting, Betaflight provides a comprehensive set of tools and
resources to help you get the most out of your drone

EasyEDA: EasyEDA is a powerful and user-friendly circuit design software that allows users
to design and create custom electronic circuits quickly and easily. With EasyEDA, users can
access a vast library of components, such as resistors, capacitors, and transistors, and easily
drag and drop them onto a canvas to create their circuits. The software features a real-time
collaboration tool that allows multiple users to work on the same project simultaneously,
making it an ideal tool for teams working on complex projects. Additionally, EasyEDA
provides users with a suite of design tools and simulation capabilities to test and optimize their
circuits. One of the standout features of EasyEDA is its ability to directly export PCB (Printed
Circuit Board) designs to a PCB manufacturing service, making it easy to turn your designs
into physical circuits. The software supports various file formats, making it compatible with a
range of PCB manufacturing services. Overall, EasyEDA is a versatile and powerful circuit
design software that makes it easy for users to create and optimize custom circuits quickly and
efficiently. Whether you are professional electronics engineer or a hobbyist, EasyEDA
provides a comprehensive set of tools and features to help you create the circuits you need.
[11]

10
 CHAPTER 4
DESIGN AND ANALYSIS

The design of the drone is decided after assembling all the desired components. The key to
a drone’s design is the ability to control the motor’s speed and rotation. Most drones are
powered by brushless DC motors, which require constant regulation of speed and direction of
rotation. An electronic speed control (ESC) module performs these functions and includes a
power supply stage, a current-sensing circuit, a microcontroller, and a communication
interface with the flight control system, thus making it fundamental to drones.

4.1 Design

Designing of the drone will begin with the frame. We chose the X-Quadcopter configuration
because it is the most common configuration used in FPV drones due to its stability and
mobility. The estimated weight of our drone will be 600-700 gms including batteries. The
hovering condition relies on the thrust. It should be double its weight so the ratio of thrust-
weight should be 2:1 or more than that. The motors we chose are 2200kv BLDC motors. BDLC
motors i.e., Brushless Motors generate more torque than conventional DC motors. The RPM
of the propeller is calculated by the following formula:

Wrpm = Vp * 0.95 * KV

Where,

Vp = Peak voltage of the battery

KV = Rating of the BLDC motor

0.95 = Marginal Error used for approximation from the ideal values

“Kv” is the rpm rating of the motor when 1v (one volt) is applied with no load to it. For
example, a 2200Kv motor will have 30,932 rpm when 14.8V is applied to it. Once a propeller
is mounted on the motor it will significantly decrease the rpm due to the wind resistance.
Higher Kv motors would attempt to spin faster and can draw more current. Hence larger
propellers are paired with lower Kv motors and vice versa.

11
Kv vs Torque constant:

The Kv rating does not directly affect the torque, but it does the torque constant. The torque
constant defines how much current is drained to create a certain amount of torque. Higher Kv
motors have higher torque constant. It means that they require more current to generate the
same torque compared to a lower Kv motor.

Moving onto the physical parameters of the drone, since its frame size is 225 mm so it is
optimal to use a propeller of size 6”. The recommended motors for this type of configuration
are 2000Kv-2300Kv. This conclusion is derived from the recommendation chart available on
oscarliang.com. The table is mentioned below

Table 4.1 Frame size versus Motor size Table for FPV Surveillance Drone.

Frame size Prop size Motor size KV

150mm or 3” or smaller 1105-1306 or 3000KV and
smaller smaller higher
180mm 4” 1806,2204 2600KV-
3000KV
210mm 5” 2205- 2300KV-
2208,2305- 2600KV
2306
250mm 6” 2206- 2000KV-
2208,2306 2300KV
350mm 7” 2506-2508 1200KV-
1600KV
450mm 8”,9”,10” or 26XX and 1200KV and
larger larger lower

4.1.1 Design of Flight Controller

The flight controller is the brain of the drone. It controls most of the onboard electrical
components with the assistance of a microprocessor and an array of sensors. Its main function
is to direct the rpm of each motor in response to input. It has sensors like a gyroscope,
accelerometer, barometer, and magnetometer. FCS is configured by computer software like
Cleanflight, Betaflight, Mission Planner, etc. The Mamba F4 series has the best gyro available

12
in the market for FPV drones i.e., MPU6000, and also has the powerful processor STM32F405
and a frequency of 168Mhz. Though there is an advanced series of FFCsin on the market called
as F7 series but the improvement in the parameters is not that significant and they are costly
too.

ESCs are the electronic speed controllers of the drone. The motors cannot directly understand
the output of the FC. The signal from the FC causes the ESC to raise or lower the voltage to
the motor as required, thus changing the speed of the propeller. Each brushless has its ESC
connected to it. The Diatone mamba company also has ESCs. The ESC should be compatible
with the current ratings of the motors because ESC can get overheated and get damaged. The
F30 series means it can handle a peak current of 30A similarly for F40 it can handle 40A.

The run cam is the leading company in Fpv drone cameras. It has characteristics like
lightweight, high resolution, and brightness adjustment as per the environment. we are using
the run cam 1500 TVL mini camera which gives out an analog video output. Analog systems
are lightweight, cheap, and consume less power. This video output is then transmitted to the
fpv goggles/mobile screen with a VTX transmitter. Rush tiny tank VTX can transmit this video
output with very low latency and has a power output of up to 350mW. This is there by far the
lightest and smallest VTX. Though it doesn't have an audio input/no mic we don't need one.
Now all these components will require power. The use of conventional batteries can cause the
overall weight to exceed drastically. Which can make it even harder to hover the drone. So,
the solution is lipo batteries. These types of batteries are loaded with power in a compact size.
They have wide use in the industry, especially in compact devices. Every drone component
has its power rating and current rating. So, we have to accordingly select a suitable battery. A
1500mah 14.8 standard battery can give us a flight time of 15-20 mins depending upon the
mode of flight. First, we have to understand two terms 1. Throttle and 2. C-rating. The throttle
gives the propellers on your drone enough power to get airborne. When flying, you will have
the throttle engaged constantly. To engage the throttle, push the left stick forward. To
disengage, pull it backward. Note that pushing the throttle to the maximum will draw a
tremendous amount of current. Therefore, the battery must keep up with it. C-rating in simple
words means the discharge rate of the battery. It is the measure of a battery to give out current
in a short period. We are using a C-rating of 80-120C. Cost increases with the increase in C-
rating. The remote controller we've selected is a basic remote controller since we are beginners
and do not have any flying experience.

13
 Shortly after the F3 was released, the F4 flight controller was launched, and thanks to its
superior processing capability, it immediately gained popularity. Due to the lack of built-in
inverters in F4 FC, Frsky SBUS, SmartPort, and F. Port require extra hardware to function
properly. F405 and F411 are the two primary F4 versions utilized in FC.
The F405 is larger and more powerful. This is often found in 30x30mm flight controls.
Although it typically has a smaller size, the F411 utilized in FC has the same architecture as
the F405 chip. Although it often costs less, it has a slower CPU, less flash memory, and fewer
UART connections. This is often available in FC whoop style, 20x20mm, or 16x16mm FC.
Most flight controls feature simple sensors like gyroscopes and accelerometers
(Accelerometer). FPV drone flight controllers are rapidly evolving: getting smaller, with more
features integrated, using better processors and hardware, and including more sophisticated
sensors like barometers and magnetometers. In addition to hardware options, there is also
various firmware you can run on your FC, which offer different features and special functions.
For instance, KISS is more concerned with racing and usability whereas iNav is created with
GPS use in mind. Betaflight is community-developed and -maintained, open-source software.
Because of its large user base, you will have a greater chance of receiving assistance if you
encounter difficulties. Additionally, it contains the most varieties of flight controls. In the
multirotor hobby, we refer to altering parameters like PID, RC rates, or other settings to obtain
the desired flying characteristics as "tuning." Universal Asynchronous Receiver/Transmitter
is referred to as UART. The hardware serial interface known as UART enables external
devices to be connected to the flight controller. Serial radio receivers, telemetry, race
transponders, VTX control, etc. are a few examples. A UART has two pins: TX for data
transmission and RX for data reception. Keep in mind that your peripheral's TX links to the
FC's RX and vice versa. An IMU (inertial measurement unit) sensor's function is to gauge the
quadcopter's orientation and movement. Both an accelerometer (ACC) and a gyroscope are
components of an IMU sensor (Gyro). Acro mode, often known as manual mode, and Angle
mode are perhaps the most frequently utilized flying modes in Betaflight (aka self-level mode).
While Angle mode makes use of both the ACC and Gyro, Acro mode solely employs the Gyro.
The accelerometer is frequently disabled to free up processing power because the majority of
FPV drone pilots only operate in Acro Mode. Because of this, we commonly call the IMU a
gyro. Recall that MPU9250 is essentially MPU6500 with the same magnetometer as
MPU9150, which is practically MPU6050 with an integrated AK8975 magnetometer. Since
Betaflight only supports up to 8K at this time, MPU6000 Gyros are still preferable; ICM Gyros
are usually fine as long as they are soft-mounted. In addition to the primary CPU, a
14
quadcopter's gyro microprocessor measures the speed at which the roll, pitch, and yaw axes
rotate. The FPV Drone Flight Controller can determine how far a quadcopter has spun and if
its rotation is accelerating or decelerating using calculus math and gyro inputs. As long as the
sticks remain centered, this sensor is the only one needed for the quadcopter to fly in acro
mode. However, certain FC software will additionally use the accelerometer in acro mode to
stabilize a quadcopter in a crash to enable speedy recovery. Another separate sensor chip called
an accelerometer may measure a quadcopter's acceleration in the roll, pitch, or yaw axes. The
FPV Drone Flight Controller can determine the quadcopter's accurate angle from the horizon
using this data since the accelerometer can also detect the gravitational constant acceleration.
This is used to operate a quadcopter in the horizon/self-levelling mode. The PID control loop
in the software that keeps the quadcopter stable during flight is the foundation of an FPV drone
flight controller. PID stands for "proportional, integral, and derivative," which are mathematics
concepts relating to a curve's area, gradient, and magnitude in turn. Properly tuning these three
P, I, and D gains significantly improves a craft's stability and responsiveness. To maneuverer
a quadcopter from a level hover to a setpoint angle of, say, 45 degrees to the right, a rapid roll
input may be used as an example. In this example, the quadcopter should instantly roll 45
degrees to correspond to the stick input, however, this is not the case. The quadcopter follows
this pattern, overshooting the 45-degree threshold less and less frequently until it reaches it:
rolling right beyond 45 degrees, left back past 45 degrees, and then rolling right past 45
degrees. This procedure is controlled by a PID loop that analyses the gyro and/or accelerometer
data. A well-tuned loop will make it look as though the quad instantly rolls 45 degrees to the
right when instructed by a stick input. If you are not familiar with PIDs or the tuning procedure,
it is advised to leave PIDs at their default settings. The 'kick' or responsiveness to stick inputs
is controlled by the P gain. When a fast stick movement is begun, a quadcopter with a large P
gain will rapidly oscillate back and forth past the angle setpoint. When a stick input is made,
the quadcopter will move slowly in the direction of the angle setpoint if the P gain is low. Over
a moderate time interval, the I gain regulates the location of the quadcopters. The I detects the
discrepancies between the setpoint angle of 0 and the real angle of 5 and will gradually bring
the quadcopter back to an angle of 0 if, for instance, a gust of wind blows it from its hovering
position at an angle of 0 to an angle of 5 degrees. A low I gain will cause the quadcopter to
"drift" more, whereas a high I gain will cause it to "drift" less, it will also make the quadcopter
more "stiff" and less likely to spin. The oscillations back and forth past the angle setpoint are
decreased by the D gain, which dampens the kick of the P gain. These rapid oscillations back
and forth will be evident at low D gain. These oscillations will be hidden by a strong D gain,
15
giving the impression that the quadcopter instantly rotates to its setpoint angle and pauses. The
quadcopter will seem pretty slow if the D gain is too high.

In addition to the gyro and accelerometer, FCs can also include a range of additional sensors
to increase telemetry data and flying capabilities. Typical extra sensors include the following:

• Barometer: By detecting atmospheric pressure, a barometer gives the FC

information about height. Although it serves little function for racing and
freestyle quadcopters, it is beneficial for long-distance pilots since it delivers
more accurate altitude readings than a GPS. A quadcopter may activate an
altitude hold mode using the barometer to maintain a fixed height while flying.

• Current sensor: All quadcopter applications benefit from the inclusion of a

current sensor since it enables the flight controller to compute and show the
current draw and battery usage in real time on an OSD. This provides pilots with
a precise estimate of the appropriate landing time and is a more accurate indicator
of battery capacity than the battery voltage (which fluctuates under load).

Features of the components:

Manufacturers have begun to incorporate more functions into flight controllers as the
FPV Drone Flight Controller has developed. This leads to cleaner, lighter, and more
straightforward quadcopter constructions. These extra features include, among others:

• On-screen display (OSD): By integrating an OSD, it is possible to overlay the

FPV stream with telemetry information and the pilot's name. PIDs, rates, and
even VTX channel shifting (if using a VTX compatible with smart audio) can all
be managed straight from the FPV feed utilizing transmitter stick inputs and an
FC-integrated OSD. Another easy way to change the OSD layout is by utilizing
a configurator like Betaflight. Although OSDs may be used independently of a
flight controller, the setup procedure is substantially more involved.

• Video transmitter (VTX): Some all-in-one flight controls have a built-in video
transmitter. The sole benefit of an integrated VTX is weight savings and less
clutter in a build as most VTXs cannot be controlled via smart audio.

16
 • Power distribution board (PDB): Instead of wiring the power leads to a
separate PDB and the signal wires to the FC, the integration of a PDB into a flight
controller enables the battery lead and ESCs to all be linked directly into an FC.
This highly suggested feature makes quadcopter wiring quite simple.

• Battery eliminator circuit (BEC): Today, many flight controllers include an

internal voltage regulator that allows them to be powered straight from a battery.
The integration of 3.3V, 5V, and/or 12V power sources into an FC is made
possible by the installation of regulators. Since historically RC airplanes powered
their electronics from a separate battery pack, the voltage regulation is referred
to as a BEC. A BEC is also advised because it enables the flight controller to
power voltage-sensitive devices including radios, LEDs, and cameras.

• Black-box data logging: Black-box enables the flight data to be logged onto the
flight controller or an SD card from the receiver, gyro, accelerometer, barometer,
or other sensors (if an SD slot has been integrated into the FC board). When
tuning a quadcopter, a black box is helpful since it makes it simple to see the
frequency and size of oscillations and vibrations.

• ESC integration: The four ESCs of certain all-in-one flight controllers are built
inside the circuit board. By doing this, a quadcopter's weight, construction
complexity, and neatness are all reduced.

Table 4.2 Types of STM Processors

Processor Processor Speed Flash Memory* SRAM

F0 (STM32F051) 48MHz 256KB 32KB
F1 (STM32F103) 72MHz 128KB 96KB
F3 (STM32F303) 72MHz 256KB 80KB
F4 (STM32F405) 168MHz 1MB 192KB
F4 (STM32F411) 100MHz 512KB 128KB
G4 (STM32G491) 170MHz 512KB 128KB
F7 (STM32F745) 216MHz 1MB 320KB
F7 (STM32F722) 216MHz 512KB 256KB
F7 (STM32F765) 216MHz 2MB 512KB
H7 (STM32H743) 480MHz 2MB 1MB

for our requirement both STM32F405 and STM32F411 are fine. The MPU6000 Gyro
is still the best option; ICM gyros are usually OK as long as they are soft-mounted. It is
17
still highly debatable which gyro is better the MPU6000 or the ICM series. Since both
have the almost same performance. Though the MPU6000 is slightly costly.

Basic flight controller block diagram

Fig 4.3 Block Diagram of FC Board

18
 Fig 4.4 Schematic diagram F4FC

Above schematic diagram for an F4 FC is taken from the datasheet [12] of the STM32F405
MCU.
Below is the complete software model of the flight controller with all its connections
completed between its components.

Fig 4.5 Software Model of Flight Controller

19
Fig 4.6 3D Representation of Flight Controller

20
The components of the board are as follows:

1. 100 nf: A 100nF SMD capacitor is a type of surface-mount ceramic capacitor that has
a capacitance value of 100 nano-farads. It is commonly used in electronic circuits for
bypassing, decoupling, filtering, and coupling applications. The SMD package type for
a 100nF capacitor can vary, but commonly used package types include 0603, 0805, and
1206, where the numbers represent the dimensions of the package in millimeters. In
our Flight controller, we have used 0805.

2. 1 µf: A 1uF SMD (Surface Mount Device) capacitor is an electronic component that
has a capacitance of 1 microfarad and is designed to be mounted on the surface of a
printed circuit board (PCB). SMD capacitors are commonly used in a wide range of
electronic circuits, including power supplies, audio amplifiers, and digital circuits.

3. 0.1 µf: A 0.1uF SMD (Surface Mount Device) capacitor is an electronic component
that has a capacitance of 0.1 microfarads and is designed to be mounted on the surface
of a printed circuit board (PCB). Like other SMD components, it is a compact and
space-saving alternative to through-hole components.

4. 2.2 nf: A 2.2 nF capacitor is a relatively small capacitor and is commonly used in
electronic circuits for filtering and decoupling. It is available in a variety of package
sizes and types, including ceramic, tantalum, and polyester film capacitors. The choice
of capacitor type and package size depends on the specific requirements of the
application, such as voltage rating, temperature range, and frequency response.

5. 10 µf: A 10uF SMD (Surface Mount Device) capacitor is an electronic component that
has a capacitance of 10 microfarads and is designed to be mounted on the surface of a
printed circuit board (PCB). This capacitor is used in various applications, including
power supply decoupling, voltage regulation, and filtering.

6. BAT54C: BAT54C is a commonly used Schottky diode in electronic circuits. It is a

small signal diode with a maximum forward voltage drop of 0.37V at a forward current
of 0.2A. The BAT54C has a maximum reverse voltage of 30V and a maximum
continuous forward current of 0.2A. The BAT54C is available in a surface-mount
21
 package, making it easy to use in PCB designs. Its small form factor and low profile
make it ideal for use in space-constrained applications. It is commonly used in power
supply circuits, battery charging circuits, and switching circuits.

7. LED: LED stands for Light Emitting Diode, which is a semiconductor device that
emits light when a current flows through it in the forward direction. LEDs are
commonly used in various electronic applications, including lighting, displays, and
indicators. LEDs are available in various sizes, shapes, and colors. The color of an LED
depends on the materials used to construct it. For example, a red LED is typically made
of aluminium gallium arsenide (AlGaAs), while a blue LED is made of indium gallium
nitride (InGaN).

8. BC817W: BC817W is a general-purpose NPN transistor that is commonly used in a

variety of electronic applications. It is a small signal transistor that can be used in both
digital and analog circuits. The BC817W has a maximum collector current (Ic) of
500mA, a maximum collector-emitter voltage (Vce) of 45V, and a maximum power
dissipation (Pd) of 625mW. It is available in a surface-mount package, making it easy
to use in PCB designs.

9. 10k: A 10k resistor is a type of fixed-value resistor that has a resistance of 10,000 ohms
or 10 kiloohms. Resistors are electronic components that are used to limit the flow of
current in a circuit and to provide a specific resistance value for a given application. A
10k resistor is commonly used in a variety of electronic applications, such as voltage
dividers, current limiting circuits, and pull-up or pull-down resistors. It can also be used
in conjunction with other resistors to create specific resistance values in a circuit.

10. 22-ohm resistor: A 22-ohm resistor is commonly used in a variety of electronic

applications, such as current limiting circuits, voltage dividers, and audio amplifier
circuits. It can also be used in conjunction with other resistors to create specific
resistance values in a circuit. Resistors are available in various package sizes, including
through-hole and surface-mount packages. Through-hole resistors have leads that are
inserted into holes on the PCB and soldered into place. Surface-mount resistors are
designed to be mounted directly onto the surface of the PCB. They are typically smaller
and more compact than through-hole resistors.
22
11. 4.7 k resistor: A 4.7k resistor is a type of fixed-value resistor that has a resistance of
4,700 ohms or 4.7 kiloohms. Resistors are electronic components that limit the flow of
current in a circuit and provide a specific resistance value for a given application. A
4.7k resistor is commonly used in a variety of electronic applications, such as voltage
dividers, current limiting circuits, and pull-up or pull-down resistors. It can also be used
in conjunction with other resistors to create specific resistance values in a circuit.

12. 1 k resistor: A 1k resistor is a type of fixed-value resistor that has a resistance of 1,000
ohms or 1 kiloohm. Resistors are electronic components that are used to limit the flow
of current in a circuit and to provide a specific resistance value for a given application.
A 1k resistor is commonly used in a variety of electronic applications, such as voltage
dividers, current limiting circuits, and pull-up or pull-down resistors. It can also be used
in conjunction with other resistors to create specific resistance values in a circuit.

13. DHT-4235: The DHT-4235A is actually a type of SMD (Surface Mount Device) tactile
switch. It is commonly used in electronic devices and circuits where a momentary
switch is needed for input or control purposes. The DHT-4235A SMD button top
switch has a compact and low-profile design, making it suitable for applications where
space is limited. It has a button-shaped top that is pressed to activate the switch, and it
is designed for surface-mount installation, which means that it is soldered directly onto
the surface of the PCB.

14. MPU-6000: The MPU-6000 is a 6-axis motion tracking device designed for use in a
wide range of applications, including drones, robotics, and wearable devices. It
combines a 3-axis gyroscope and a 3-axis accelerometer in a single chip and provides
high-performance motion tracking with low power consumption. The MPU-6000 is
manufactured by InvenSense, which is now a part of TDK Corporation. The device
uses a digital interface to communicate with a microcontroller or other host device and
supports a range of communication protocols, including SPI (Serial Peripheral
Interface) and I2C (Inter-Integrated Circuit).

15. NCP1117ST33T3G: The NCP1117ST33T3G is a low dropout linear voltage regulator

designed for use in a variety of applications. It is manufactured by ON Semiconductor
23
 and is commonly used in electronic devices and circuits where a stable and reliable
voltage supply is required. The NCP1117ST33T3G is designed to regulate an input
voltage of up to 20V down to a fixed output voltage of 3.3V with a maximum output
current of 1A. It features a low dropout voltage of only 1.2V at 1A, which means that
it can regulate the output voltage even when the input voltage is only slightly higher
than the desired output voltage.

16. Micro USB Female: A micro-USB female connector is a type of connector commonly
used in electronic devices for data transfer and charging. It is a small, rectangular
connector that has a total of five pins or contacts. The connector is designed to be used
with a male micro-USB cable, which is plugged into the female connector to establish
a connection. The five pins or contacts in a micro-USB female connector are used for
different purposes. The first two pins are used for power, and the other three pins are
used for data transfer. The connector also includes a metal shield around the contacts
to reduce electromagnetic interference and improve signal quality.

17. 8 MHz ceramic resonator: An 8 MHz ceramic resonator is an electronic component

that is used to provide precise timing or frequency control in electronic circuits. It is a
three-terminal device that consists of a piezoelectric ceramic material sandwiched
between two metal electrodes. When a voltage is applied across the electrodes, the
ceramic material vibrates at a precise frequency, which is determined by the physical
properties of the material and the dimensions of the resonator.

18. STM32F405RGT6: The STM32F405RGT6 is a microcontroller from

STMicroelectronics that is part of the STM32F4 series. It is based on the ARM Cortex-
M4F core and features a clock speed of up to 168 MHz, with 1 MB of Flash memory
and 192 KB of SRAM. The STM32F405RGT6 offers a wide range of advanced
peripherals, including USB OTG, Ethernet, CAN, I2C, SPI, USART, and SDIO. It also
includes a range of analog peripherals, such as ADCs, DACs, and comparators, making
it suitable for a wide range of applications, including industrial control, motor control,
and consumer electronics.

24
 CHAPTER 5

FABRICATION, ASSEMBLY AND TESTING

5.1 Fabrication

The schematic of the Flight Controller was designed using EasyEDA software. First, we
needed to create a pin-out connection diagram consisting of all the elements required to
build a FC. Successful connections were established by using the trial-and-error method.
Once this was done, we need to check whether all the connections running through the
PCB were aligned with the DRC rule. "DRC" stands for Design Rule Check. It is a
process used in the design of integrated circuits (ICs) to ensure that the physical layout
of the circuit adheres to a set of predefined design rules. These design rules are a set of
specifications that dictate how certain features of the circuit must be designed and placed
in order to ensure the proper functionality and reliability of the final product.

EasyEDA has an in-built operation for converting this FC layout into a printed circuit
board. The DRC also checks all the connections so there is no short circuit while
manufacturing the FC.

The main objective here was to design a flight controller which would be able to perform
all the necessary operations to control a quadcopter. For this in-depth analysis of each
major and minor component (SMD) was done.

After successfully completing the FC layout a Gerber file was generated for its actual
printing (fabrication) and was provided to EPS PCB Technologies for its manufacturing.
The whole manufacturing process took almost 15 days to complete and was delivered to
us.

25
5.2 Assembly

For assembly, we require the flight controller (PCB) and its SMD parts. The flight
controller’s SMD parts were sourced from the USA.

We began by installing the SMD components onto the printed circuit board (PCB). SMD
components are tiny and delicate, so it's important to be gentle and precise when handling
them. We also bought a pair of fine-tipped tweezers to carefully place each component
onto the board and ensure that it is aligned properly. We made sure to follow the
manufacturer's instructions regarding the correct orientation and placement of each
component.

Next, we began soldering the components to the PCB. We used a fine-tip soldering iron
and high-quality solder to make clean, secure connections. We took care not to apply too
much heat or pressure, as that could have damage the delicate SMD components.

Once all the components were soldered in place, we tested the PCB to make sure it was
functioning properly. We did this by connecting it to a power source and use a multimeter
to check for any shorts or other issues.

26
Once the FC’s connections were established and checked we began assembling the
quadcopter itself.

We began by organizing all of our components and tools in a clean and well-lit
workspace. This ensured that we had everything we needed and easily accessible when
they were required.

We started by attaching the motors to the arms of the drone frame. We made sure to
properly align each motor with its corresponding arm and secured it using the screws
provided.

Once the motors were attached, we moved on to mounting the electronic speed
controllers (ESCs) to the drone frame. The ESCs control the speed of each motor and are
critical components in the drone's performance. We made sure to follow the instructions
provided with our ESCs to properly connect them to the motors.

All the other components such as the camera for capturing the video, VTX for
transmitting the video from the camera to the display, and Receiver for relaying
instructions from the Remote Controller (Transmitter) to the flight controller was also
mounted properly on the frame and connections were made and double checked.

After the components were mounted, we began to connect the power distribution board
(PDB) and flight controller to the drone frame. The PDB distributed power to all of the
components, while the flight controller managed the drone's flight operations. We
followed the manufacturer's instructions carefully to properly connect and secure each
component.

Once all of the components were connected and secured, we began connecting the wires
between them. This includes connecting the motor wires to the ESCs, the ESCs to the
PDB, the PDB to the flight controller, and the flight controller to the camera, VTX, and
receiver. We made sure to double-check each connection to ensure they are properly
connected and secure.

Next, we attached the propellers to the motors. It's important to make sure that each
propeller is attached to the correct motor and is facing the correct direction. For that, we
Referred to the instructions provided with the components.

Finally, we attached the battery to the PDB to turn on our drone. And the testing
commenced.
27
5.3 Testing

Once we had assembled our quadcopter drone with all the necessary components,
including the FC, VTX, camera, receiver, motors, and propellers, it was time to put it to
the test. Before flying the drone, we had to configure the FC using Betaflight, a popular
open-source firmware for quadcopter flight controllers.

After configuring the FC, we powered on the drone and conducted a series of tests to
ensure that all components were working properly. First, we checked the motors to
ensure that they were spinning correctly and that each propeller was attached securely.
We also checked the receiver to make sure that it was properly connected to the FC and
that it was receiving signals from our transmitter.

Next, we tested the VTX and camera by connecting them to a monitor and checking the
quality of the video feed. We made sure that the VTX was transmitting at the correct
frequency and that the camera was properly focused.

Once we were satisfied that all components were working properly, we took the drone
outside for a test flight. We started with some basic maneuvers to get a feel for the drone's
stability and responsiveness, gradually increasing the difficulty of the maneuvers as we
gained more confidence in the drone's performance.

Throughout the test flight, we monitored the drone's battery level and made sure to land
before it ran out of power. We also paid close attention to any signs of malfunction or
instability and made adjustments as needed.

Overall, the test flight was a success. The quadcopter drone performed well, with stable
flight and responsive controls. We were pleased with the quality of the video feed and
the range of the receiver. With the help of Betaflight, we were able to configure the FC
to our liking and ensure that all components were working together properly.

5.3.1 Errors

As we designed, assembled, and tested our FC drone, we encountered several errors that
required troubleshooting and problem-solving. The errors are as follows:

Designing the Flight Controller:

28
Pin Mapping Errors: One of the most common errors that we encountered during the
design phase was incorrect pin mapping. This caused the wrong signals to be sent to the
wrong components, resulting in malfunctions and damage. We had to carefully review
the pin mapping and make corrections to ensure that the signals were properly routed.

Power Issues:

Another error that we faced during the design phase was power issues. We had to make
sure that the voltage regulator was properly configured and that the power supply
circuitry was designed to handle the power requirements of all the components. This
involved extensive testing and troubleshooting to identify and correct any issues.

Firmware Compatibility Issues:

We also encountered firmware compatibility issues during the design phase. We had to
make sure that the firmware was compatible with all the components and that any
necessary updates or patches were installed. This required careful attention to detail and
thorough testing to ensure that all the components were working together seamlessly.

Assembling the Drone:

Incorrect Component Installation: During the assembly phase, we encountered errors

related to incorrect component installation. This could include attaching the wrong
propellers or installing the motors upside down. We had to carefully review the assembly
instructions and double-check each step to ensure that all components were properly
installed.

Wiring Errors:

Wiring errors were another issue that we faced during the assembly phase. This could
include incorrect connections between the FC and other components, or wiring that was
not properly secured. We had to carefully review the wiring diagrams and test each
connection to ensure that they were properly configured.

Testing the Drone:

Flight Instability: During the test flights, we encountered errors related to flight
instability. This could be caused by incorrect PID settings or incorrect weight
distribution. We had to carefully review the flight data and make adjustments to the
settings and weight distribution to ensure a stable flight.
29
Radio Interference:

Another error that we faced during the test flights was radio interference. This could be
caused by a variety of factors, including nearby radio towers or other electronics. We had
to carefully review the flight data and make adjustments to the radio frequency settings
to minimize interference.

Overall, the design, assembly, and testing of our FC drone required careful attention to
detail and extensive testing and troubleshooting to identify and correct any errors. By
working together as a group and carefully reviewing each step of the process, we were
able to successfully overcome these challenges and create a fully functional and stable
drone.

5.4 Overall Cost

• Drone with self-designed Flight Controller –
• Drone with imported Flight Controller -

30
 CHAPTER 6

CONCLUSION

The study of the drone components and their design led us to select the most suitable
components which helped us to achieve our target. The components are purely selected based
on the application with which we have designed the drone. Upon closely analyzing the
components and keeping in mind the design flow. The drone weighs approximately 650-700
grams. Keeping the weight in mind, the capacity of the motor, and the rpm it will produce
based on the battery's current distribution rate, the drone will easily achieve a speed of 80km
/hr. As the Flight Controller was self-designed, manufacturing a single board is quite expensive
than batch processing. This resulted in the exceeding of the cost than expected. We were unable
to use the self-designed FC because of the failure of power input. At last the drone was
finalized using the imported FC.

31
 REFERENCES

1. Holy Stone HS150 Bolt Bee Mini Racing Drone Review - Super Flying Drones
2. Parrot ANAFI | Professional Drone Camera 4K HDR
3. https://dronesnerd.com/parrot-mambo-fpv-review
4. https://www.bing.com/search?q=4)Bolt+Drone+FPV+Drones+with+Goggles+%E2%80%93
+by+Bolt+Drones&cvid=6120c120726e46548689e905d320949f&aqs=edge..69i57.1448j0j9
&FORM=ANAB01&PC=LCTS#
5. Tinyhawk III Series | Emax (emaxmodel.com)
6. Hubsan X4 H122D Drone Review 2022 Quadcopter | Best Drones (dronesforsalereview.com)
7. EMAX Hawk Pro 5" 4S/6S FPV Racing Drone 1700kv/2400kv - PNP (getfpv.com)
8. DJI Digital FPV System - DJI
9. https://www.bing.com/search?q=)+I-
flight+Nazgul+5&cvid=26b84a8bce45449785a01052109ae7f0&aqs=edge..69i57j0l8.584j0j4
&FORM=ANAB01&PC=LCTS#
10. Cetus X FPV Kit – BETAFPV Hobby
11. https://www.bing.com/search?q=7+pros+and+cons+of+drones&cvid=bf21f8cb501f40b5864
159b490113289&aqs=edge.1.69i57j0l8.6338j0j4&FORM=ANAB01&PC=LCTS#
12. https://www.st.com/en/microcontrollers-microprocessors/stm32f405-415.html
13. https://oscarliang.com/f1-f3-f4-flight-controller/
14. https://github.com/DroneMesh
15. https://www.google.com/url?sa=t&source=web&rct=j&url=https://www.st.com/resource/en/
datasheet/dm00037051.pdf&ved=2ahUKEwjfr-Wc-
pn7AhU5m9gFHdNLBt4QFnoECBAQAQ&usg=AOvVaw07P8BbeoTlMpZCNdsHv1OP
16. https://www.st.com/resource/en/datasheet/dm00037051.pdf

32
33