The objective for this milestone was to integrate the same model functionality developed and analyzed within the Matlab/Simulink environment into a mature environment that will be able to test most functionalities of the Flight controller software that will be flashed for real-flight testing. The decision was to either migrate the Ardupilot (in this case ArduCopter ) software into the Matlab environment or integrate the highly nonlinear quadcopter model with flapping dynamics into the Ardupilot environment. The former option would mean no easy integration with Mission Planner and the real-time sofware-in-the-loop ( SITL ) testing tool (which also includes the infrastructure to communicate with the Flightgear 3D visualization environemt, while the later with make use of singular environment although the software development effort would quite tedious and error-prone. It was chosen to go with the first option as this was thought to be lead to more mature verification method prior...

So i've been looking over the last few months how I can get to fly more of my quadcopter drone for both research and leisure. The major drawback of the 1.6kg drone is its form factor at the time. Being a H-frame quad with cross rotor length of over 80cm, I had to purchase 110L storage bin to keep it safe and damage-free. After much research I ended up a natural solution that would involved just a steel saw and good eye for detail. The other (obvious) requirement for this folding mechanism is that it should make the deployment time as fast as possible with a few if not no special equipment. This led the the solution of cutout the area around the second bolt of each arm to allow pivoting action on the first bolt. The cutout should also be such that bolt hole remains to be used as a stopper to maintain symmetry along the quad x and y axis. The high contact friction will be used to ensure the arms remain in the required position throughout a particular flight. After much sawing and...

So my pixhawk has finally arrived! Now it's time to get to understand the codebase and integrate my algorithms to the flight control suite. I've also gathered a few parts from a research quadcopter. The plan is to have it takeoff and demonstrate that it works!

Yeah that's right. Everywhere you go, including some intern projects at my company, quadcopter drones is the current trend. The marketing success is simple. It's a lot cheaper and less complex and than a comparable RC helicopter. They're virtually no mechanical moving parts (expect the platform itself). And it's perfectly suited for camera attachment. So hot combination has spawned the quacopter drone revolution. I've always been against following a trend just for the sake of it. But considering that I need perfect weather test fly my flight controller only makes sense to start modifying my code to accommodate for a quadcopter. The controls are pretty straightforward and the design is incredibly simple. Another design dev coming up!

So I decided to build a new aircraft since my 2m glider only gave me limited flying options. This is was quite a quick project as all was designed in Solid Edge including the electronics. This enabled me to work out the mass and balance throughout the design process. The total weight sits at 250g. This includes autopilot and GPS. It's designed to have external servos and a shifting wing placement since it will have various payloads like a mini VGA camera. The electronics are housed nicely in the fuselage powered by a 850mAh 7.4V battery. I've removed the redundant magnetometer in the autopilot board. Still not sure on the CG placement, but from the crashed maiden test and the fact that the control moment arm is quite small, it's believed that the C.G. needs to be further aft from the wing main spar (which currently sits on the aerodynamic center).

I Although I now have a Radian glider. It's quite difficult to find open places where you're able to practice your flying. So i decided to design a new airframe that will be able to keep my flight hours up without having to travel far. The aim was to make a cheap. light and yet strong powered plane that, if needed, would be able to carry the autopilot board. The airframe was made of foam core , 160gsm board paper, packaging tape and dowel sticks.