Drones: Teach an Arduino to Fly

Copyright
Table of Contents
Preface
	Success
	Small, Medium, Large
	Conventions Used in This Book
	Using Code Examples
	Safari® Books Online
	How to Contact Us
Chapter 1. What Makes a Drone Possible
	Motors
	Batteries
	Control Systems
Chapter 2. Popular Drone Control Systems
	MultiWii
	Dronecode
		APM/ArduPilot
		PX4/Pixhawk
	DJI/Naza
	KK2
	CC3D/OpenPilot
	Naze32/Baseflight/Cleanflight
	Choosing a Flight Control System
Chapter 3. Drone Activities
	Aerial Photography
	FPV Racing
	Education
	Flying
Chapter 4. Improve the Hubsan X4
	Goals and Test Methods
	Battery Upgrade
	Prop Upgrade
Chapter 5. Build the X4Wii
	Parts
	Build
		Flashing New Code
		Wiring
		Assembly
	Setup and Tuning
		RC Rates
		PIDs
		Modes
Chapter 6. The Visible Drone
	A Teensy CPU
	Radios
	IMU/AHRS
	Power
	Circuit Board with Motor Controllers
	Frame/Motors/Props
	Weight Budget
Chapter 7. Basic I/O Code
	Setting Up the IDE
	Main Loop
	RC Receiver
	Bluetooth
	Motors
Chapter 8. Multirotor Aerodynamics
	Lift and Thrust
	Pitch and Roll
	Yaw
	Translational Lift
	Vortex Ring State
Chapter 9. IMU/AHRS
	Gyros
	Accelerometers
	IMU
	Magnetometers
Chapter 10. Mode and Mix
	Mode
		Angle Mode
		Rate Mode
	Mix
Chapter 11. PIDs
	The Algorithm
		P—Proportional
		I—Integral
		D—Derivative
	Implementation
	Tuning
		Theory
		Practice
Chapter 12. Circuit Board and Motor Controllers
	Design Tools and Files
	Component Placement
	Power Input and Distribution
	Motor Controller
	Schematic and Layout
	Construction
Chapter 13. Construction and Tuning
	Install the Controller and Connect the LEDs
	Connect the Motors
	Install the Radios
	Complete the Frame
	Ground Test
	Flight Test and Future Work
Chapter 14. A Bigger Frame
	The S500 Kit
	Follow the Instructions
Chapter 15. Install the Power System
	Mount the ESCs
	Wire the Power Distribution Board
	Mount the Motors
	Determine Direction
Chapter 16. Brushless Motors and Their ESCs
	Brushless Motors
	ESCs
	BECs
Chapter 17. Install the Flight Controller and Radios
	Pixhawk Lite and Shock Mount
	RC Radios
	Telemetry Radio
	Safety Switch
	Testing
Chapter 18. GPS
	History
	Theory
	HDOP
	Installation
Chapter 19. Magnetometer
	The Earth’s Magnetic Field
	Declination and Deviation
	Magnetoresistance
	Use in Drones
Chapter 20. Flying the S500
	Install the Props
	Connect the Battery and Voltage Monitor
	Radio and Accelerometer Calibration
	Flight Modes
	Initial Tuning
	Final Checklist and First Flight
Chapter 21. Optical Flow, Sonar, and Lidar
	Sonar
	Lidar
	Optical Flow Sensors
	Visual Odometry
Chapter 22. Vibration
	Causes of Vibration
	Effects of Vibration
	Damping and Isolation
	Prop Balancing
Chapter 23. Failure Modes and Fault Tolerance
	Failsafes
	Redundancy
Chapter 24. Interfaces
	Computer Interfaces
	RC Radio Standards
		DSM/DSM2/DSMX
		FrSky
	Servo/ESC Control
	Telemetry
	GPS
Chapter 25. The Future
	Specialization
	Regulation
	Ease of Use
	Safety
	Human Flight
Index
About the Author