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Chapter 2
Chapter 2
Chapter 2
Lift: The upward force needed to counteract gravity and lift the vehicle. It is generated when the
air pressure beneath the wing or propeller is higher than above it.
Thrust: The forward force propelling the vehicle, studied using kinematic laws of fluid flows.
Drones or Unmanned Aerial Vehicles (UAVs), operate on principles of aerodynamics, propulsion, control
systems, and onboard electronics.
Figure 2.2 Relationship Between Force and Figure 2.3 Lift Generation by Propeller Cross-
Fluid Momentum
2.2 Working Principle of Quadcopter
Propeller Configuration: A quadcopter is equipped with four
propellers positioned at the four corners of its frame.Each
propeller’s speed and direction of rotation are independently
controlled to ensure the drone’s stability and manoeuvrability.
Directional Balance: To maintain equilibrium, two propellers
rotate clockwise while the other two rotate counterclockwise.
Vertical and Horizontal Movement: For vertical movement
(hovering), all propellers must spin at high speeds. Adjusting
the speed of individual propellers allows the drone to move
Figure 2.4: Air pressure
forward, backward, or sideways. under drone
These principles enable the precise control and agility of quadcopters, making them versatile for various
applications.
2.3 Quadcopter Dynamics
Types of Motion:
1. Throttle: Controls the vertical movement (up and down).
- Increased propeller speed lifts the drone (hovering).
- Decreased speed lowers the drone.
2. Pitch: Controls forward and backward tilt.
- Faster rear propellers move the drone forward.
- Faster front propellers move it backward.
3. Roll: Controls side-to-side tilt.
Figure 2.5 Quadcopter Dynamics
- Faster right propellers tilt the drone left.
- Faster left propellers tilt it right.
4. Yaw: Controls rotation around the vertical axis.
- Faster right diagonal propellers rotate the drone counterclockwise.
- Faster left diagonal propellers rotate it clockwise.
These principles are essential for understanding how quadcopters achieve stability and controlled
movement.
Positioning the UAV: Following the prompts, we carefully positioned the UAV in each of the six
orientations. We made sure to hold the UAV steady until Mission Planner confirmed that each
measurement was complete, ensuring no movement to avoid inaccurate readings.
Completion: After completing all six positions, Mission Planner processed the data. The software
notified us that the calibration was successful. We saved the calibration settings to ensure they
were applied.
1. Preparation:
In this chapter, we successfully installed Mission Planner and calibrated the Pixhawk flight controller. We
covered essential calibrations such as the accelerometer, compass, and radio, ensuring accurate flight data
and control. Additionally, we set up critical failsafe settings and configured flight modes to enhance safety
and tailor the drone's behaviour. These foundational steps ensure our drone operates safely and efficiently,
preparing us for advanced operations and mission planning.