Abstract:
This thesis presents the design and implementation of a comprehensive flight control system for a quadcopter. The system encompasses a 6-DOF mathematical model of the quadcopter, a PIDcontrolled flight controller, and integration with the quadcopter across various simulation platforms and hardware. The primary objectives of this project include designing and implementing a robust flight control system for a quadcopter, integrating the designed models in both simulation and real-life scenarios, and deploying the designed controller on PX4 hardware to enable RC-based flight.
The system is engineered to be highly customizable and adaptable to diverse scenarios and environments. The PID-controlled flight controller is designed to be robust and efficient, ensuring that the integration with various simulation platforms and hardware facilitates thorough testing and validation in multiple settings.
A significant aspect of this project involved integrating object detection and tracking capabilities using a Raspberry Pi mounted on the quadcopter. This addition enabled the quadcopter to autonomously recognize and track objects in its environment, enhancing its functionality for applications such as surveillance, search and rescue, and delivery. The camera system was successfully integrated with the flight control system, allowing for real-time processing and decision-making based on visual input.
The results of this project demonstrate the effectiveness of the designed flight control system in maintaining the quadcopter's flight stability and safety. The system's adaptability and customization potential make it suitable for a broad range of applications.
Overall, this thesis advances drone technology by offering a comprehensive and automated approach to designing and implementing flight control systems for quadcopters.
