ESCUELA TÉCNICA SUPERIOR DE INGENIERÍA Y SISTEMAS DE TELECOMUNICACIÓN PROYECTO FIN DE GRADO TÍTULO: A Do-It-Yourself Unmanned Aerial Vehicle for area monitoring and data collecting AUTOR: SILI LIU TITULACIÓN: Grado Ingeniería Electrónica de Comunicaciones TUTOR: Jesús Rodríguez Molina DEPARTAMENTO: Ingeniería Telemática y Electrónica VºBº Miembros del Tribunal Calificador: PRESIDENTE: Francisco Jóse Arqués Orobón TUTOR: Jesús Rodríguez Molina SECRETARIO: Ana Belén García Hernando Fecha de lectura: Calificación: El Secretario, ETS de Ingeniería y Sistemas de Telecomunicación, Campus Sur UPM Table of Contents 1. Introduction .......................................................................................................................................... 7 1.1 Description of IoT..................................................................................................................... 7 What is the IoT? ......................................................................................................................... 7 Why we need the IoT? ............................................................................................................... 8 Structure of the Internet of Things ............................................................................................ 9 Applications and development of the Internet of Things [7] .................................................. 10 1.2 Drones in the Internet of Things ............................................................................................ 10 What is a drone? ....................................................................................................................... 10 UAVs Classification................................................................................................................. 11 UAVs Components .................................................................................................................. 12 Applications of drones and their advantages and disadvantages .......................................... 13 1.3 Contribution from the Project ................................................................................................ 14 2. Technological framework ................................................................................................................. 14 2.1 Computer or Main-board and Autopilot in the UAVs.......................................................... 14 Arduino platform ...................................................................................................................... 15 Raspberry Pi platform .............................................................................................................. 17 BeagleBoard platform .............................................................................................................. 18 Other commonly used platforms ............................................................................................. 19 Arduino platform vs. Raspberry Pi platform vs. BeagleBoard platform .............................. 23 Autopilot extension board (Autopilot Shield) ........................................................................ 25 2.2 Open Source Drone Projects .................................................................................................. 26 Ardupilot/APM ......................................................................................................................... 26 Pixhawk/PX4 ............................................................................................................................ 27 Paparazzi [30] ............................................................................................................................. 27 LibrePilot/OpenPilot[39]............................................................................................................ 28 2.3 Use cases of UAVs in IoT ...................................................................................................... 28 3. Hardware assembly ............................................................................................................................... 31 3.1 Powered platform ....................................................................................................................... 31 3.2 Preparation for installation......................................................................................................... 31 3.3 Installation process ..................................................................................................................... 35 3.4 Remaining parts and tools.......................................................................................................... 42 4. Software assembly ................................................................................................................................ 46 4.1 Introduction of BetaFlight ......................................................................................................... 46 4.2 Getting Started ............................................................................................................................ 47 4.3 Configurations ............................................................................................................................ 48 1 ETS de Ingeniería y Sistemas de Telecomunicación, Campus Sur UPM 5. Testing ................................................................................................................................................... 65 5.1 Test flight .................................................................................................................................... 65 5.2 Testing Mission .......................................................................................................................... 67 6. Budget list ............................................................................................................................................. 75 7. Conclusion ............................................................................................................................................. 76 8. References and Bibliography ............................................................................................................... 79 Table of Figures Figure 1: Structure of the Internet of Things[6] ................................................................................. 9 Figure 2: Arduino Uno Rec3[22] ....................................................................................................... 16 Figure 3: Raspberry Pi Zero [23] ....................................................................................................... 18 Figure 4: BeagleBone Blue[25] ......................................................................................................... 19 Figure 5: OcPoC™ with Altera Cyclone® mini SoC Flight Controller[27] ................................. 20 Figure 6: 3DR Pixhawk Flight Controller [29] ................................................................................. 21 Figure 7: Paparazzi Chimera V1.0 autopilot board[30] ................................................................... 21 Figure 8: OpenPilot CopterControl3D/CC3D autopilot board[32] ................................................. 22 Figure 9: Qualcomm® Snapdragon ™ Flight Kit[33]...................................................................... 23 Figure 10: PXFmini autopilot shield [46] ......................................................................................... 25 Figure 11: : Navio2 autopilot shield + Raspberry PI 2 [37] ............................................................. 26 Figure 12: MD4-1000`s Test Flight [43] ........................................................................................... 29 Figure 13: Flyability Elios [45] .......................................................................................................... 30 Figure 14: Frame kit ......................................................................................................................... 31 Figure 15: Motors ............................................................................................................................. 32 Figure 16: The top surface of ESC .................................................................................................. 32 Figure 17: : The bottom surface of ESC ......................................................................................... 33 Figure 18: The top surface of Flight Controller(FC) ...................................................................... 33 Figure 19: The bottom surface of Flight Controller(FC) ............................................................... 34 Figure 20: The camera of drone....................................................................................................... 34 Figure 21: Solder to the bottom of the pads of ESC....................................................................... 35 Figure 22: Welding of 4 motors....................................................................................................... 35 Figure 23: Solder power section (capacitors and wires) ................................................................ 36 Figure 24: Mounting screws and rubbers ........................................................................................ 37 Figure 25: Install ESC .....................................................................................................................