Final

QUADCOPTER SURVEILLANCE SYSTEM
A PROJECT REPORT
Submitted by
STUTI VYAS
DRASHTI SHETH
JAY VALA
In fulfillment for award of degree
Of
BACHALOR OF ENGINEERING
In
ELECTRONICS & COMMUNICATION
SARDAR VALLABHBHAI PATEL INSTITUTE OF TECHNOLOGY,
VASAD
Gujarat Technological University, Ahmedabad
May, 2014

SARDAR VALLABHBHAI PATEL INSTITUTE OF TECHNOLOGY
ELECTRONICS & COMMUNICATION
2014
CERTIFICATE
Date: / /2014
This is to certify that the dissertation entitled “Quadcopter Surveillance
System” has been carried out by Stuti Vyas(100410111004), Drashti
Sheth(100410111008) and Jay Vala(100410111113) under my guidance in
fulfillment of the degree of Bachelor of Engineering in ELECTRONICS &
COMMUNICATION (8th Semester) of Gujarat Technological University,
Ahmedabad during the academic year 2013-14.
Guide: Head of Department:
Prof. J.N.Patel Dr. Y.B.Shukla
Asst. Professor, Associate Professor,
E&C Department E&C Department
S.V.I.T VASAD S.V.I.T VASAD

i
ACKNOWLEDGEMENT
We are indebted to many individuals who helped us to company our dissertation work. Their
contributions have been important in so many different ways that it is difficult to acknowledge
them in any other manner but subject wise.
First of all, we would like to express our earnest gratitude to our internal project guide, Prof.
J.N.PATEL and our head of the department, Prof. Y.B.SHUKLA for their constant guidance,
encouragement and moral support which helped us to accomplish the project. We would also like
to thank whole staff of EC department for giving us their precious advices when we really
needed them.
We are thankful to god for giving us the light and strength to work and making this project a
success.
Finally, we would like to thank our families and friends for their coordination.
With Regards,
Stuti Vyas
Drashti Sheth
Jay Vala
SVIT Vasad.

ii
Abstract
This project focuses on developing a remotely operated Quad copter system. The military use of
unmanned aerial vehicles (UAVs) has grown because of their ability to operate in dangerous
locations while keeping their human operators at a safe distance. The larger UAVs also provide a
reliable long duration, cost effective, platform for reconnaissance as well as weapons. They have
grown to become an indispensable tool for the military.
We postulated that smaller UAVs can serve more tactical operations such as searching a village
or a building for enemy positions. Smaller UAVs, on the order of a couple feet to a meter in size,
should be able to handle military tactical operations as well as the emerging commercial and
industrial applications and our project is attempting to validate this assumption.
The payload of our Quadcopter design includes a camera and telemetry that will allow us to
watch live video from the Quadcopter on a laptop or T.V that is located far away. It is possible to
build a small-scale Quadcopter that could be used for both military and commercial use
Our team’s Quadcopter prototype is a very limited version of what could be created in a
production facility using more advanced technology. Although there are many enhancements that
we could do to the design, we have proven that it is possible to produce a small scale UAV that
performs functions of interest to the military as well as commercial/industrial applications.

iii
LIST OF TABLES
Table No. Table Description Page No.
Table 1 Work Plan 16
Table 2 Pin Description of HT12D 26
Table 3 Pin Description of HT12E 28

iv
LIST OF FIGURES
Figure No. Figure Description Page No.
Figure 1.1 Block diagram of Transmitter 1
Figure 1.2 Block diagram of Receiver 3
Figure 2.1 Quad Copter 5
Figure 4.1 De Bothezat Quadcopter (1923) 7
Figure 4.2 San Deigo Air And Space Museum Archives 8
Figure 4.3 Early Prototype 8
Figure 4.4 Axial Representation Of Yaw,Pitch,Roll 10
Figure 4.5 Schematic diagram of Reaction of motors 11
Figure 4.6 Altitude adjustment of Quadcopter 12
Figure 4.7 Yaw adjustment of Quadcopter 13
Figure 4.8 Pitch and Roll adjustment of Quadcopter 14
Figure 6.1 Real view of ESC 17
Figure 6.2 Schematic of Brushless motors 18
Figure 6.3 Real view of Brushless motors 18
Figure 6.4 Gyroscope 20
Figure 6.5 Accelerometer 21
Figure 6.6 Inertial Measurement Units 22
Figure 6.7 Accelerometer IC 22
Figure 6.8 Gyroscope (3axis) 22
Figure 6.9 Rotation of Propeller blades 23
Figure 6.10 Lithium Polymer Batteries 24
Figure 6.11 Pin assignment of HT12D 25
Figure 6.12 Pin assignment of HT12E 27

v
Figure 6.13 Schematic Frame Design 29
Figure 6.14 Frame Design 30
Figure 6.15 Fabrication of Transmitter 31
Circuit
Figure 6.16 Flow Chart of Transmitter 32
Figure 6.17 Control Board Circuit 33
Figure 6.18 Fabrication of Control Board 34
Circuit
Figure 6.19 Fabrication of Power Distribution 35
Board
Figure 6.20 Flow Chart of ESC Calibration 36
Figure 6.21 Tied Testing 37
Figure 6.22 Testing of Accelerometer and 38
Gyroscope
Figure 6.23 Readings of Accelerometer and 39
Gyroscope
Figure 7.1 Testing of Transmitter Circuit 40
Figure 7.2 Proteous View of Transmitter 41
Circuit
Figure 7.3 Calibration of Accelerometer and 41
Gyroscope
Figure 7.4 Readings of Speed of Motors 42

vi
TABLE OF CONTENTS
Acknowledgement i
Abstract ii
List of Tables iii
List of Figures iv
Table of Contents vi
Chapter 1: Introduction 1
1.1 Introduction to Project 1
1.2 Block Diagram 2
1.2.1 Transmitter Block Diagram 2
1.2.2 Receiver Block Diagram 3
Chapter 2: Aim and Objectives of Project 5
Chapter 3: Usefulness of Project 6
3.1 Application of Quadcopter 6
Chapter 4: Brief Literature Review 7
4.1 Early Attempts 7
4.2 Survey of Project 9
4.3 Flight Mechanism 10
4.4 Flight Control 11
Chapter 5:Plan of Work 15

vii
5.1 Work Plan 15
Chapter 6: Materials and Methods 17
6.1 Components 17
6.1.1 ESC (Electronic Speed Controller) 17
6.1.2 Brushless Motors 18
6.1.3 IMU (Inertial Measurement Unit) 20
6.1.4 Gyroscope 20
6.1.5 Accelerometer 21
6.1.6 Propellers 23
6.1.7 Li-Po Battery 24
6.1.8 Decoder 25
6.1.9 Encoder 27
6.1.10 Frame 29
6.2 Methods 30
6.2.1 Frame designing and assembling 30
6.2.2 Development of transmitter logic 31
6.2.3 Fabrication of transmitter circuit 31
6.2.4 Flow chart of transmitter 32
6.2.5 Fabrication of control board circuit 33
6.2.6 Development of Power distribution board 34
6.2.7 Calibration of ESCs 35
6.2.8 Tied Testing 36
6.2.9 Testing of accelerometer and gyroscope 37

viii
6.2.10 Frame 38
Chapter 7: Outcomes/Results 40
7.1 Testing of transmitter logic 40
7.2 Implementation of transmitter logic on Proteous 41
7.3 Calibration of accelerometer and gyroscope 41
7.4 Getting speed readings on Tx LCD 42
Chapter 8: Discussion and Conclusion 43
8.1 Advantages 43
8.2 Disadvantages 43
Chapter 9: Further Developments 44
Chapter 10: Any other Details 45
10.1 Annexure 45
10.2 Appendixes 60
References 73

1
INTRODUCTION Chapter-1
1.1 Introduction to Project:
Quad copter is an aerial vehicle which is operated to fly independently. There are several
advantages to quad copters over comparably-scaled helicopters. First, quad rotors do not
require mechanical linkages to vary the rotor blade pitch angle as they spin. This
simplifies the design and maintenance of the vehicle. Second, the use of four rotors
allows each individual rotor to have a smaller diameter than the equivalent helicopter
rotor, allowing them to possess less kinetic energy during flight. This reduces the damage
caused should the rotors hit anything. For small-scale UAV’s, this makes the vehicles
safer for close interaction. Some small-scale quad -copters have frames that enclose the
rotors, permitting flights through more challenging environments, with lower risk of
damaging the vehicle or its surroundings. The prototype has four arms made of light
weight fiber frame to which four motors can be assembled. These motors are controlled
by means of electronic speed controllers (ESC).These ESC’s are connected to the pins of
control board. The signal from microcontroller goes to ESC’s which in turn control the
speed of motor. In this design we are using four brushless motors which is able to make
the prototype fly and to change its direction. In this type gyroscopes are used to attain
stability of quad copter. These gyro’s are used to maintain good stability condition so that
it can balance the whole body of it. The power distribution in this system is done by a
high capacity Li-Po battery of 11.1V giving adequate power supply.
Humans are fascinated by levitation. The reason is probably that the world we are living
in is three-dimensional. However, human beings live and move mainly in two
dimensions. It seems that humans have a very strong drive to overcome their biological
limits. This leads to build machines that enable them to move in three-dimensional space,
e.g., airplanes and helicopters. No matter how complicated the geographical feature is, it
doesn’t become a trouble if it flies in the air. What’s more, it is possible to use it even in a
considerably severe region. And it can be controlled remotely to carry out a wide range of
investigations.
The goal of our project is to design and construct a Spy copter, quad-copter capable of
Indoor-outdoor flight and hover with an onboard wireless camera used for remote
surveillance and control. Through the use of an integrated control system, this vehicle
would be capable of autonomous operation, including take-off, hover, and landing
capabilities, controlled remotely by an operator and let the view the real-time footage
captured by the camera.

2
1.2 Block Diagrams:
1.2.1 Block Diagram of Transmitter:
Fig.1.1 Block Diagram of the transmitter
The transmitter will be basically a remote control as shown above, would have the basic
controls that will be used to control the quad copter.
There will be basically 6 switches in the quad copter, 2 for the pitch control, 2 for the
direction control, 1 for the throttle control that
for up and down and one for the auto mode. Here we will be using the ATmega 16 for the
controlling the quad copters flight.
A encoder(HT12E) to encode the signal and at the receiver we will decode it with the
help of decoder(HT12D).
HARDWARE REQUIREMENTS (TRANSMITTER): Encoder, Switches, Tx
module, ATmega16.
SOFTWARE REQUIREMENTS: BASCOM AVR compiler, Language: BASCOM

3
1.2.2 Block Diagram of Receiver:
Fig 1.2 Block Diagram of the receiver
HARDWARE REQUIREMENTS (RECEIVER):
Microcontroller unit (ATmega 16), Electronic Speed controller, Power Distribution
board, Frame, Brushless Motors, Camera Module, Low Battery Indicator, Li-Po Battery,
Gyro, Accelerometer, Decoder, Connecting Wires.
The signal received by the antenna will be decoded and will be given to the
microcontroller which in our case is Atmega16. Atmega16 will provide signal (PWM)
according to the input provided by the decoder to the ESC and it will turn the motor on.
To assist the quad in flight we will use sensors such as Gyro, Accelerometer, and in some
cases Magnetometer for extra yaw stability. These sensors will provide the coordinates to
the quad-copter and will help in maintaining stability.
A GPS can also be installed in the quad-copter so as to provide the whereabouts of the
copter.

4
The quad copter will have an Auto mode in which it will be stable at a place and the
movement of it will be restricted to that place only. This mode will be useful in many
cases. Strong wind can make quad hover for its main position, in this mode it will be
stable and will be locked at a single place so that the necessary task can be completed.
This mode will smartly use the sensors on it to know its position, then a feedback system
will ensure that the quad will be locked at its position and any external force applied will
be countered and stability is achieved.
Proximity sensors which are used in mobile phones will be used here. These sensors will
indicate when quad is going to collide.
Ultrasonic Ranging meters will help in measuring the distance.
We will use a Lithium-Polymer Battery, this battery has high discharging rate so it meets
the requirement of the brushless motors. As indicated above that the discharge rate is
high, we will use a battery indicator which will notify us on battery status.
SOFTWARE REQUIREMENTS (RECEIVER): BASCOM AVR compiler,
Language: BASCOM

5
AIMS AND OBJECTIVES OF Chapter-2
PROJECT
This project focuses on developing a remotely operated Quad copter system. The military
use of unmanned aerial vehicles (UAVs) has grown because of their ability to operate in
dangerous locations while keeping their human operators at a safe distance. The larger
UAVs also provide a reliable long duration, cost effective, platform for reconnaissance as
well as weapons. They have grown to become an indispensable tool for the military.
We postulated that smaller UAVs can serve more tactical operations such as searching a
village or a building for enemy positions. Smaller UAVs, on the order of a couple feet to
a meter in size, should be able to handle military tactical operations as well as the
emerging commercial and industrial applications and our project is attempting to validate
this assumption.
The payload of our Quadcopter design includes a camera and telemetry that will allow us
to watch live video from the Quadcopter on a laptop or T.V that is located far away. It is
possible to build a small-scale Quadcopter that could be used for both military and
commercial use
Our team’s Quadcopter prototype is a very limited version of what could be created in a
production facility using more advanced technology. Although there are many
enhancements that we could do to the design, we have proven that it is possible to
produce a small scale UAV that performs functions of interest to the military as well as
commercial/industrial applications.
Fig.2.1 Quadcopter

6
USEFULNESS OF PROJECT Chapter-3
3.1 Applications of Quadcopter:
1. Research Platform:
Quadcopters are a useful tool for university researchers to test and evaluate new ideas in
a number of different fields, including flight control theory, navigation, real time systems,
and robotics. In recent years many universities have shown quadcopters performing
increasingly complex aerial maneuvers. Swarms of quadcopters can hover in mid-air, in
formation, autonomously perform complex flying routines such as flips, darting through
hula-hoops and organize themselves to fly through windows as a group.
Because they are so maneuverable, quadcopters could be useful in all kinds of situations
and environments. Quadcopters capable of autonomous flight could help remove the need
for people to put themselves in any number of dangerous positions. This is a prime reason
that research interest has been increasing over the years.
2. Military and Law Enforcement:
Quadcopter unmanned aerial vehicles are used for surveillance and reconnaissance by
military and law enforcement agencies, as well as search and rescue missions in urban
environments.
3. Commercial Applications:
The largest use of quadcopters has been in the field of aerial imagery although, in the
USA, it is currently illegal to use remote controlled vehicles for commercial purposes.
Quadcopter UAVs are suitable for this job because of their autonomous nature and huge
cost savings.
4. Other Applications:
The quadcopters can also be used for performance and air shows-lights, fireworks,
aerobatics etc. It can also be used for minor industrial lifting like getting a wrench to the
workers on the top of the tower, passing optic fiber wires from one roof to the other and
so on. Weather monitoring can be done with quads, installing sensors that monitor
weather and sends data to the ground units for real time weather monitoring, also as the
quad will be up in the air, it can have accurate data

7
.BRIEF LITERATURE REVIEW Chapter-4
4.1 Early Attempts:
Etienne Oehmichen experimented with rotorcraft designs in the 1920s. Among the six
designs he tried, his helicopter No.2 had four rotors and eight propellers, all driven by a
single engine. The Oehmichen No.2 used a steel-tube frame, with two-bladed rotors at the
ends of the four arms. The angle of these blades could be varied by warping. Five of the
propellers, spinning in the horizontal plane, stabilized the machine laterally. Another
propeller was mounted at the nose for steering. The remaining pair of propellers were for
forward propulsion. The aircraft exhibited a considerable degree of stability and
controllability for its time, and made more than a thousand test flights during the middle
1920s. By 1923 it was able to remain airborne for several minutes at a time, and on April
14, 1924 it established the first-ever FAI distance record for helicopters of 360 m
(390 yd). It demonstrated the ability to complete a circular course and later, it completed
the first 1 kilometer (0.62 mi) closed-circuit flight by a rotorcraft.
Fig.4.1 De Bothezat Quadcopter(1923)
Dr. George de Bothezat and Ivan Jerome developed this aircraft, with six bladed rotors at
the end of an X-shaped structure. Two small propellers with variable pitch were used for
thrust and yaw control. The vehicle used collective pitch control. Built by the US Air
Service, it made its first flight in October 1922. About 100 flights were made by the end
of 1923. The highest it ever reached was about 5 m (16 ft 5 in). Although demonstrating
feasibility, it was underpowered, unresponsive, mechanically complex and susceptible to
reliability problems. Pilot workload was too high during hover to attempt lateral motion.

8
Quadrotors overtaken by helicopters due to workload of the pilot. Some experimental
aircraft in the 1950’s are as shown below:
Fig.4.2 San Diego Air & Space Museum Archives
Fig.4.3 Early Prototype

9
4.2 Survey of Project:
A Quad-Copter is a flying maneuver that can be used for very strategic or tactical
purposes. These Quads have great maneuverability and hovering ability. A surveillance
system is a mantra of terror free world, but due to physical limitations such as area,
viewing angles and resolution these systems are not as effective as it should be. But if
these systems are mounted on a flying object that can be controlled for a distance place,
we can overcome some of the limitations that a fixed system is inherited upon. With their
small size and agile maneuverability, these quadcopters can be flown indoors as well as
outdoors.
A Quad-Copter surveillance system is our initial step toward make a change in which
these security system conventionally work. A camera on top of a flying machine which
can be controlled form ground, an aerial bomb detection system, and so on.
A Quad-Copter is a multi-copter that is lifted and propelled by four rotors. Quadcopters
are classified as rotorcraft, as opposed to fixed-wing aircraft, because their lift is
generated by a set of revolving narrow-chord airfoils. Quadcopter designs have become
popular in unmanned aerial vehicle (UAV) research.
These Quad-Copters or Unmanned Aerial Vehicles (UAVs) have become more
commonly used for many applications; for research in flight control theory,
navigation, real time systems, and robotics; for military and law enforcement, search and
rescue missions in urban environments. The largest use of quadcopters has been in the
field of aerial imagery. Quadcopter UAVs are suitable for this job because of their
autonomous nature and huge cost savings. Capturing aerial imagery with a quadcopter is
as simple as programming GPS coordinates.

10
4.3 Flight Mechanism:
An quadcopter has three axis' of movement. They are known as the yaw, pitch , and roll.
Combinations of these three controls enable an quadcopter to maneuver.
Fig. 4.4 Axial representation of Pitch, Yaw & Roll
YAW: Rotation around the vertical axis is called yaw. The yaw allows the airplane to
move towards the left or right while in flight.
PITCH: Rotation around the side-to-side axis is called pitch. The pitch refers to the
movement of the airplane's nose either up or down.
ROLL: Rotation around the front-to-back axis is called roll. Roll is known as the rising
or dipping of the airplane's wing.

11
YAW ANGLE: The angle between an aircraft’s longitudinal axis and its line of travel,
as seen from above.
PITCH ANGLE: The angle between an object’s rotational axis, and a
line perpendicular to its orbital plane.
ROLL ANGLE: The angle of rotation of a vehicle about its longitudinal axis.
4.4 Flight Control:
Each rotor produces both a thrust and torque about its center of rotation, as well as a
drag force opposite to the vehicle's direction of flight. If all rotors are spinning at the
same angular velocity, with rotors one and three rotating clockwise and rotors two
and four counterclockwise, the net aerodynamic torque, and hence the angular
acceleration about the yaw axis is exactly zero.
Fig. 4.5 Schematic of reaction torques on each motor of a quadrotor aircraft, due to spinning rotors.
Rotors1 and 3 spin in one direction, while rotors 2 and 4 spin in the opposite direction, yielding opposing
torques for control.

12
Fig. 4.6 Quadrotor hovers or adjusts its altitude by applying equal thrust to all four rotors.
Angular accelerations about the pitch and roll axes can be caused separately without
affecting the yaw axis. Each pair of blades rotating in the same direction controls one
axis, either roll or pitch, and increasing thrust for one rotor while decreasing thrust for
the other will maintain the torque balance needed for yaw stability and induce a net
torque about the roll or pitch axes. This way, fixed rotor blades can be made to
maneuver the quad rotor vehicle in all dimensions. Translational acceleration is
achieved by maintaining a non-zero pitch or roll angle.

13
Fig.4.7 A quadrotor adjusts its yaw by applying more thrust to rotors rotating in one direction.
In a quadcopter the rotors are counter rotating. Two of the rotors rotate in one direction
and two rotate in the other. If the rpms of all rotors are the same then no moment about he
yaw axis is created. By altering the rpms of the sets of counter rotating rotors, a moment
will be created and the copter will yaw.

14
Fig.4.8 A quadrotor adjusts its pitch or roll by applying more thrust to one rotor and less thrust to its
diametrically opposite rotor.
Pitch is controlled by increasing and decreasing the rpms of the front and back rotors
causing a moment which causes the copter to pitch up or down..Roll uses the same
mechanism as pitch but using left and right rotors instead of front and rear.

15
PLAN OF WORK Chapter-5
5.1 WORK PLAN
MONTH WORK DONE
1st
July-15th July
Survey of project and hardware study and
description
16th
July-31st
July Implementation of Block diagram of system
1st
August-15th
August
Detailed study of components and its
working and understanding of flight control
16th
August -31st
August Detailed study and designing of frame
1st
September-15th
September
Selection of hardware components as per
specification.
16th
September-30th
September Problem identification and correction
1st
October-15th
October Mounting of components on Frame
15th
October-31st
October
Study and Implementation of Transmitter
22nd
December-31st
January Bascom and Program implementation
1st
January-15th
January
Developing the Control board circuit and
soldering the same
15th
January-31st
January
Development of transmitter and receiver
logic and testing the same
1st
February-15th
February
Development of Power distribution board
and control board

16
15th
February-28th
February
Programming related to control board and
finished with transmitter programming
1st
March-15th
March
Calibration of ESC`s and testing the motors
also the tied testing of the quadcopter
15th
March -31st
March
Tried achieving the auto stable mode and
got the readings of accelerometer and gyro
1st
April-15th
April
Troubleshooting of auto stable mode and
problems relating to our programming
15th
April -30th
April
Final troubleshooting and actually flying the
quadcopter
Table 1- Work Plan

17
MATERIALS AND METHODS Chapter-6
USED
6.1 Components:
6.1.1 ESC (Electronic Speed Control):
An electronic speed control or ESC is an electronic circuit with the purpose to vary
an electric motor's speed, its direction and possibly also to act as a dynamic brake. ESCs
are often used on electrically powered radio controlled models, with the variety most
often used for brushless motors essentially providing an electronically-generated three
phase electric power low voltage source of energy for the motor.
An ESC can be a stand-alone unit which plugs into the receiver's throttle control channel
or incorporated into the receiver itself, as is the case in most toy-grade R/C vehicles.
Some R/C manufacturers that install proprietary hobby-grade electronics in their entry-
level vehicles, vessels or aircraft use onboard electronics that combine the two on a
single circuit board.
ESC interprets control information not as mechanical motion as would be the case of
a servo, but rather in a way that varies the switching rate of a network of field effect
transistors, or FETs. The rapid switching of the transistors is what causes the motor itself
to emit its characteristic high-pitched whine, especially noticeable at lower speeds. It also
allows much smoother and more precise variation of motor speed in a far more efficient
manner than the mechanical type with a resistive coil and moving arm once in common
use.
Fig.6.1 Real View of ESC

18
6.1.2 Brushless Motor:
Fig.6.2 Schematic diagram of Brushless Motors
Fig.6.3 Real View of Brushless Motors

19
Brushless DC electric motor (BLDC motors, BL motors) also known as electronically
commutated motors (ECMs, EC motors) are synchronous motors that are powered by a
DC electric source via an integrated inverter/switching power supply, which produces an
AC electric signal to drive the motor. In this context, AC, alternating current, does not
imply a sinusoidal waveform, but rather a bi-directional current with no restriction on
waveform. Additional sensors and electronics control the inverter output amplitude and
waveform (and therefore percent of DC bus usage/efficiency) and frequency (i.e. rotor
speed).
The motor part of a brushless motor is often a permanent magnet synchronous motor, but
can also be a switched reluctance motor, or induction motor.
Brushless motors may be described as stepper motors; however, the term stepper
motor tends to be used for motors that are designed specifically to be operated in a mode
where they are frequently stopped with the rotor in a defined angular position. This page
describes more general brushless motor principles, though there is overlap.
Two key performance parameters of brushless DC motors are the motor constants KV
and Km (which are numerically equal in SI units)
Brushless VS Brushed Motors:
Brushed DC motors develop a maximum torque when stationary, linearly decreasing as
velocity increases. Some limitations of brushed motors can be overcome by brushless
motors; they include higher efficiency and a lower susceptibility of the commutator
assembly to mechanical wear. These benefits come at the cost of potentially less rugged,
more complex, and more expensive control electronics.
A typical brushless motor has permanent magnets which rotate and a fixed armature,
eliminating problems associated with connecting current to the moving armature. An
electronic controller replaces the brush/commutator assembly of the brushed DC motor,
which continually switches the phase to the windings to keep the motor turning. The
controller performs similar timed power distribution by using a solid-state circuit rather
than the brush/commutator system.
Brushless motors offer several advantages over brushed DC motors, including more
torque per weight, more torque per watt (increased efficiency), increased reliability,
reduced noise, longer lifetime (no brush and commutator erosion), elimination of ionizing
sparks from the commutator, and overall reduction of electromagnetic
interference (EMI). With no windings on the rotor, they are not subjected to centrifugal
forces, and because the windings are supported by the housing, they can be cooled by
conduction, requiring no airflow inside the motor for cooling. This in turn means that the
motor's internals can be entirely enclosed and protected from dirt or other foreign matter.

20
6.1.3 Internal Measurement Unit:
An inertial measurement unit, or IMU, is an electronic device that measures and reports
on a craft's velocity, orientation, and gravitational forces, using a combination
of accelerometers and gyroscopes, sometimes also magnetometers. IMUs are typically
used to maneuver aircraft, including unmanned aerial vehicles (UAVs), among many
others, and spacecraft, including satellites and landers.
An inertial measurement unit works by detecting the current rate of acceleration using
one or more accelerometers, and detects changes in rotational attributes like pitch, roll
and yaw using one or more gyroscopes. And some also include a magnetometer, mostly
to assist calibrate against orientation drift.
Inertial navigation systems contain IMUs which have angular and linear accelerometers
(for changes in position); some IMUs include a gyroscopic element (for maintaining an
absolute angular reference).
In a navigation system, the data reported by the IMU is fed into a computer, which
calculates its current position based on velocity and time.
6.1.4 Gyroscope:
A gyroscope is a device for measuring or maintaining orientation, based on the principles
of angular momentum. Mechanically, a gyroscope is a spinning wheel or disc in which
the axle is free to assume any orientation. Although this orientation does not remain
fixed, it changes in response to an external torque much less and in a different direction
than it would without the large angular momentum associated with the disc's high rate
of spin and moment of inertia. The device's orientation remains nearly fixed, regardless
of the mounting platform's motion, because mounting the device in a gimbals minimizes
external torque.
Applications of gyroscopes include inertial navigation systems where magnetic
compasses would not work (as in the Hubble telescope) or would not be precise enough
(as in ICBMs), or for the stabilization of flying vehicles like radio-controlled helicopters
or unmanned aerial vehicles. Due to their precision, gyroscopes are also used
in gyrotheodolites to maintain direction in tunnel mining.
Fig.6.4 Gyroscope

21
6.1.5 Accelerometer:
An accelerometer is a device that measures proper acceleration. The proper acceleration
measured by an accelerometer is not necessarily the coordinate acceleration (rate of
change of velocity). Instead, the accelerometer sees the acceleration associated with the
phenomenon of weight experienced by any test mass at rest in the frame of reference of
the accelerometer device. For example, an accelerometer at rest on the surface of the
earth will measure an acceleration g= 9.81 m/s2
straight upwards, due to its weight. By
contrast, accelerometers in free fall or at rest in outer space will measure zero. Another
Single- and multi-axis models of accelerometer are available to detect magnitude and
direction of the proper acceleration (or g-force), as a vector quantity, and can be used to
sense orientation (because direction of weight changes), coordinate acceleration (so long
as it produces g-force or a change in g-force), vibration, shock, and falling in a resistive
medium (a case where the proper acceleration changes, since it starts at zero, then
increases). Micro machined accelerometers are increasingly present in portable electronic
devices and video game controllers, to detect the position of the device or provide for
game input.
Fig.6.5 Accelerometer

22
Fig6.6: IMU i.e. combined Accelerometer, Gyroscope, and Magnetometer
Fig6.7: Accelerometer IC
Fig6.8: Gyroscope (3 axis)

23
6.1.6 Propellers:
It is also main part of the quad copter for flying, there are two types of propellers used
in the quad copter they mostly left hand propellers and right hand propellers
Fig6.9 Rotation of Propeller blades
Left hand propellers are also called as normal propeller and they are mounted to the
motor which is moving in counter clock wise direction. Right hand propellers are also
called as pusher propellers and they are mounted to the motor which is moving in the
clock wise direction. We are using four propellers controlled by motors and ESC’s. Using
gyroscopes we can measure the orientation of prototype in X, Y and Z directions. These
are used to adjust the RPM of each motor.

24
6.1.7 Lithium Polymer Battery:
A compelling advantage of Li-poly cells is that manufacturers can shape the battery
almost however they please, which can be important to mobile phone manufacturers
constantly working on smaller, thinner, and lighter phones. Li-poly batteries are also
gaining favors in the world of radio-controlled aircraft as well as radio-controlled cars,
where the advantages of both lower weight and greatly increased run times can be
sufficient justification for the price. Some air soft gun owners have switched to LiPo
batteries due to the above reasons and the increased rate of fire they provide. However,
lithium polymer-specific chargers are required to avoid fire and explosion. Explosions
can also occur if the battery is short-circuited, as tremendous current passes through the
cell in an instant. Radio-control enthusiasts take special precautions to ensure their
battery leads are properly connected and insulated.
Furthermore fires can occur if the cell or pack is punctured. Radio-controlled car batteries
are often protected by durable plastic cases to prevent puncture. Specially designed
electronic motor speed controls are used to prevent excessive discharge and subsequent
battery damage. This is achieved using a low voltage cut-off (LVC) setting that is
adjusted to maintain cell voltage greater than (typically) 3 V per cell.
.
Storage:-
Unlike certain other types of batteries, lithium polymer batteries can be stored for one or
two months without significantly losing charge. However, if storing for long periods,
manufacturers recommend discharging the battery to 40% of full charge. In addition,
other sources recommend refrigerating (but not freezing) the cell.
Lithium Polymer Charger:-
LiPoly batteries must be charged carefully. The basic process is to charge at constant
current until each cell reaches 4.2 V; the charger must then gradually reduce the charge
current while holding the cell voltage at 4.2 V until the charge current has dropped to a
small percentage of the initial charge rate, at which point the battery is considered 100%
charged. Some manufacturers specify 2%, others 3%, but other values are also possible.
The difference in achieved capacity is minute.
Fig.6.10 Li-Po batteries

25
6.1.8 Decoder:
General Description:
The 212 decoders are a series of CMOS LSIs for remote control system
applications. They are paired with Holtek’s 212 series of encoders. For proper operation,
a pair of encoder/decoder with the same number of addresses and data format should be
chosen. The decoders receive serial addresses and data from a programmed 212 series of
encoders that are transmitted by a carrier using an RF or an IR transmission medium.
They compare the serial input data three times continuously with their local addresses. If
no error or unmatched codes are found, the input data codes are decoded and then
transferred to the output pins. The VT pin also goes high to indicate a valid transmission.
The 212 series of decoders are capable of decoding information that consist of N
bits of address and 12_N bits of data. Of this series, the HT12D is arranged to provide 8
address bits and 4 data bits, and HT12F is used to decode 12 bits of address information.
Pin Assignment:
Fig.6.11 Pin Assignment of HT12D

26
Pin Description:
Table 2- Pin Description of HT12D
Functional Description:
The 212 series of decoders provides various combinations of addresses and data
pins in different packages so as to pair with the 212 series of encoders. The decoders
receive data that are transmitted by an encoder and interpret the first N bits of code period
as addresses and the last 12_N bits as data, where N is the address code number. A signal
on the DIN pin activates the oscillator which in turn decodes the incoming address and
data. The decoders will then check the received address three times continuously. If the
received address codes all match the contents of the decoders local address, the 12_N bits
of data are decoded to activate the output pins and the VT pin is set high to indicate a
valid transmission. This will last unless the address code is incorrect or no signal is
received. The output of the VT pin is high only when the transmission is valid. Otherwise
it is always low.

27
6.1.9 Encoder:
General Description:
The 212 encoders are a series of CMOS LSIs for remote control system
applications. They are capable of encoding information which consists of N address bits
and 12_N data bits. Each address/data input can be set to one of the two logic states. The
programmed addresses/data are transmitted together with the header bits via an RF or an
infrared transmission medium upon receipt of a trigger signal. The capability to select a
TE trigger on the HT12E or a DATA trigger on the HT12A further enhances the
application flexibility of the 212 series of encoders. The HT12A additionally provides a
38kHz carrier for infrared systems.
Pin Diagram:
Fig.6.12 Pin Assignment of HT12E

28
Pin Description:
Table 3- Pin Description of HT12E

29
6.1.10 Frame:
Frame is the structure that holds all the components together. The Frame should be rigid,
and be able to minimize the vibrations coming from the motors. Also the frames can be
made up of various materials. The most commonly used frame materials are:
• Aluminum
• Plastic fiber
• Glass fiber
• Wood
• Carbon fiber
The attributes of the quad frame are as follows:
• It should be light in weight.
• It should be able to hold all the components together tightly and provide support
to mountings and various sensors and cameras that are installed in the quad.
• It should not be affected by the environmental conditions.
• It should be able to cope up with the vibrations of the motors mounted on it and
should also be cost effective at the same time.
Fig.6.13 Schematic Frame Design

30
6.2 Methods:
6.2.1 Frame designing and assembling:
The parts of Frame were ordered as per our predefined frame structure. All the parts were
then assembled and the final frame that we developed is as shown below.
Fig6.14 Frame Design
The frame shown above is made from glass fiber and weighs approximately 450grams.
Provisions for mounting the two motors; that is primary and secondary motors, are also
given. The landing legs are placed near the center of the quad so as to avoid the sagging
problem. Also the provision for mounting sensors for example infrared sensors is
provided at the arm end of the quadcopter and for mounting of battery, the arrangement
for placing battery strap is also provided.

31
6.2.2 Development of transmitter logic:
For the transmitter, we had developed two logics:
1. Based on the use of microcontroller and encoder-decoder.
2. Based on using multiplexer-demultiplexer
The first logic includes the use of a microcontroller and the encoder and decoder pair.
In this we first need to send the signals to the microcontroller and then it is sent to the
encoder. The encoder will encode the signals and send it to the antenna. Similarly at the
receiver side there is a decoder that will decode the incoming signal and send it to the
microcontroller. It will be then processed and based on it the action will be taken. This
logic is comparatively easy and simple to implement.
The second logic explores the use of a multiplexer –demultiplexer pair. In this the signal
is first sent to the multiplexer which will the combine those signals and sends to the
receiver via the transmitter module. And at the other side we have a demultiplexer that
will again demultiplexer them and the resultant action will be taken. But here we have a
major problem. We need to transmit the enable signal after transmitting every bit to the
receiver. It is needed in order to identify as to from which multiplexer the signal has been
received. This may result in unwanted delay and also we nee to use two multiplexers at
transmitter side and two demultiplexer at the receiver side which makes it more clumsy.
And again we need two tx-rx modules operating at different frequencies to transmit the
enable signal.
Due to all the above mentioned reasons we decided to use the first logic.
6.2.3 Fabrication of transmitter circuit:
We then fabricated the circuit as shown below:
Fig6.15 Fabrication of transmitter circuit
As can be seen, we have used 8 push buttons for the movement in four directions and
throttle and for the auto stable mode. And we have used Atmega16 and HT12E.

32
6.2.4 Flow chart of transmitter:
Fig6.16 Flow chart of transmitter

33
6.2.5 Control board circuit:
We studied various circuits for the development of our control board as per our
specifications. Out of various circuits found, one circuit seemed to be close to what our
requirements were. The schematic diagram of the same is as follows:
Fig6.17 Control board Circuit
As shown in the above circuit, here there is a network of capacitors and resistors to
convert the voltage levels from 5V to 3V and vice versa as required for the controller and
the sensors. And there are 4 motors for driving the quadcopter and ICs for the
accelerometer, gyroscope and magnetometer. Also three presets are present to control the
working of these three parameters. And the main part is the use of the controller
Atmega16.

34
6.2.6 Fabrication of control board circuit:
Next we fabricated the above displayed circuit after gathering the components needed for
it. The circuit was a bit modified and components that were not needed were removed.
The circuited that we fabricated is as shown below.
Fig6.18 Fabrication of Control board circuit
In this circuit we have removed the presets as we are going to control the values of
accelerometer and gyroscope via programming.
And we also eliminated the magnetometer as it is use for extra yaw stability in cases that
require extremely precise movement and control.
And instead of the whole network of capacitors and resistors we have used IC 7805 that
does the same work.

35
6.2.7 Development of Power distribution board:
The power distribution board is needed to distribute the power coming from the battery
equally to all the ESCs. We can also use a harness or a clip that can suffice our needs.
Our board contains path that we have made by soldering because the thickness of the path
should be high enough to withstand 30 amps of current.
The following figure shows the same:
Fig6.19 Fabrication of Power Distribution Board

36
6.2.8 Calibration of ESCs:
Calibration of the ESCs plays a very important role. Here we can test the maximum and
the minimum speed at which we can drive our motors. We developed the program for it
and carried out the ESC configuration and noted the range of the speed of the motor from
700 to 2500 rpm.
The following diagram shows the implementation of the ESC configuration.
Fig6.20 Flow chart of ESC calibration

37
6.2.9 Tied testing:
We will control the flight. As shown in the figure we have lifted the quad by applying
maximum throttle and then minimum and after an interval of 3 seconds the quad starts.
And if we set the speed to maximum then the quad will lift.
The following images will make it clearer.
Fig6.21Tied testing

38
6.2.10 Testing of accelerometer and gyroscope:
The testing of the sensors that is, accelerometer and gyroscope is done so as to find out
whether it can take values from the ESCs and develop the logic to get the quad in the auto
stable mode.
First we fabricated the circuit for the testing as shown
Fig6.22 Testing of Accelerometer and gyroscope

39
As shown, it includes a controller ATmega16, jumpers for connecting the sensors to the
board and an LCD for displaying the result of the testing.
We then developed the program logic for it. We have made the code such that whenever
there is any inclination or tilt in the position of the quad then the readings of one of the
axis of the quad decreases and the other two readings may be same or may change
according to the change in the position. When the quad tilts in one side, the rpm of the
motor on that side increases and that of the opposite side decreases. This causes the quad
to again regain balance.
For this we need to set the range of readings of the sensors that mark the stability action
to be taken. If the reading of the axes go outside the specified range then only this action
will take place.
Fig6.23 Readings of Accelerometer and Gryroscope

40
OUTCOMES / RESULTS Chapter-7
7.1 Testing of transmitter logic:
We implemented the transmitter circuit on the breadboard using encoder-decoder pair.
The figure below shows the testing:
Fig7.1 Testing of transmitter circuit
After testing we got positive result and were successfully able to transmit the bits to the
receiver side after encoding and tested the form of the output on the other side and
verified that the codes sent were received correctly by connecting the LEDs at the output.
Thus our logic using controller was found out to work correctly as expected.

41
7.2 Implementation of transmitter logic on Proteous:
The figure below shows the proteous view of the transmitter logic:
Fig7.2 Proteous View of Transmitter Circuit
7.3 Calibration of accelerometer and gyroscope:
Fig7.3 Calibration of Accelerometer and Gyroscope
As shown, when we tilt the quad the readings of the x-axis decrease and go outside the
range set. Whereas the readings of the other two axes do not differ much.
This allows the stability action to take place.

42
7.4 Getting speed readings on Tx LCD:
We have attached an LCD on Tx circuit the main aim was to get speed of all
4 motors. For this we developed a program such that the speed of the motor
will increase gradually up to max then again decrease doing this we were
able to get the readings on LCD as shown as below
Fig7.4 Reading of speed of motors

43
DISCUSSION AND CONCLUSION Chapter-8
There are numerous advantages for using quadcopters as versatile test platforms. They
are relatively cheap, available in a variety of sizes and their simple mechanical design
means that they can be built and maintained by amateurs. Quadcopter projects are
typically collaborations between computer science, electrical engineering and mechanical
engineering specialists.
8.1 Advantages:
• Because they are so maneuverable, quadcopters could be useful in all kinds of
situations and environments.
• Quadcopters capable of autonomous flight could help remove the need for people
to put themselves in any number of dangerous positions. This is a prime reason
that research interest has been increasing over the years.
• Quadcopter UAVs are suitable for this job because of their autonomous nature
and huge cost savings.
• Capturing aerial imagery with a quadcopter is as simple as programming GPS
coordinates and hitting the go button. Using on-board cameras, users have the
option of being streamed live to the ground.
8.2 Disadvantages:
• GPS interference can cause major problems on a quad since the components are
located at the center of the aircraft in close proximity.
• We can minimize the issue on quad by adding a small capacitor to the camera.
• Also another disadvantage is flight time. Weight is the key factor for flight time
and can be an engineering challenge

44
FURTHER DEVELOPMENTS Chapter-9
The quadcopter can be modified according to the requirements. It is used in a variety of
applications. The other components which can be added to it are:
• GPS modules
• Ultrasonic sensors
• Barometers
• Solar Radiation Sensor.
• Water Wind Speed Sensor.
• Humidity Sensor.
• Temperature Sensor.
• Thermal Imaging Camera (For Military Application)

45
ANY OTHER DETAILS Chapter-10
10.1 Annexure

VASAD
USER UTILIZATION CERTIFICATE
This is to certify that dissertation entitled “Quadcopter Surveillance System” carried out by
Stuti A. Vyas, Drashti A. Sheth and Jay Vala under my guidance in fulfillment of the degree
of Bachelor of Engineering in Electronics and Communication (8th
Semester) of Gujarat
Technological University, Ahmedabad during academic year 2013-2014.
This project is a useful tool for university researchers to test and evaluate new ideas in a number
of different fields, including flight control theory, navigation, real time systems, and robotics.
Quadcopter unmanned aerial vehicles are used for surveillance and reconnaissance by military
and law enforcement agencies, as well as search and rescue missions in urban environments. It
can also be used for performance and air shows-lights, fireworks, aerobatics etc.
Date:
Place:
Guide:
Prof. J. N. Patel
Assistant Prof.
SVIT Vasad

VASAD
USER FEEDBACK CERTIFICATE
This is to certify that dissertation entitled “Quadcopter Surveillance System” carried out by
Stuti A. Vyas , Drashti A. Sheth and Jay Vala under my guidance in fulfillment of the degree
of Bachelor of Engineering in Electronics and Communication (8th
Semester) of Gujarat
Technological University, Ahmedabad during academic year 2013-2014.
They have worked very hard and completed the project in allocated time. They learned about the
various components of the quadcopter which includes ESCs, Accelerometer, Gyroscope and
Microcontroller Atmega16. They assembled the circuit and the frame and performed
troubleshooting to solve the hardware and software faults.
They were regular throughout their academic year. Their overall performance has been very
good. They have shown the dedication required to take their project to satisfactory logical
conclusion.
We sincerely wish them good luck in their professional carriers.
Date:
Place:
Guide:
Prof. J. N. Patel
Assistant Prof.
SVIT Vasad

48
FORM 1
THE PATENTS ACT 1970 (39 of 1970) &
THE PATENTS RULES, 2003
APPLICATION FOR GRANT OF PATENT
[See section 7, 54 & 135 and rule 20(1)]
(FOR OFFICE USE ONLY).
Application No:
Filing Date:
Amount of Fee Paid:
CBR No: Signature:
1 APPLICANT(S)
NAME NATIONALITY ADDRESS
Stuti Vyas
Drashti Sheth
Jay Vala
Indian
Indian
Indian
19 Viral Park Society,
b/h Samta flats, Subhanpura
Vadodara 390023
Gujarat, India.
Email:vyasstuti13@gmail.c
om
Tel (M): +91-8347140807
C-37,38 Pallav Park Society
b/h Bright School, VIP road
Karelibaugh, Vadodara
Gujarat, India.
Email:
drashtisheth3112@gmail.co
m
Tel (M): +91-9712002237
AT Kadodara Ta: Kodinar
District Gir Somnat362720
Gujarat, India.
Email:
jay.vala@msn.com
Tel (M): +91-9601423515
2 INVENTOR (S)
NAME NATIONALITY ADDRESS
Stuti Vyas Indian 19 Viral Park Society,
Vadodara 390023
Gujarat, India.
Email:vyasstuti13@gmail.c

49
Drashti Sheth
Jay Vala
Indian
Indian
omm
Tel (M): +91-8347140807
C-37,38 Pallav Park Society
b/h Bright School, VIP road
Karelibaugh, Vadodara
Gujarat, India.
Email:
drashtisheth3112@gmail.co
m
Tel (M): +91-9712002237
AT Kadodara Ta: Kodinar
District Gir Somnath362720
Gujarat, India.
Email:
jay.vala@msn.com
Tel (M): +91-9601423515
3 TITLE OF INVENTION: QAUDCOPTER SURVILLANCE SYSTEM
4 Address for Correspondence of Applicant:
Stuti Vyas
19 Viral Park Society,
Vadodara 390023
Gujarat, India.
Telephone No:0265-2388488
Mobile No.: +91-8347140807
E-mail: vyasstuti13@gmail.com
5 PRIORITY PARTICULARS OF THE APPLICATION (S) FILED IN
CONVENTION COUNTRY
Country Application
No.
Filing Date Name
of the
Applica
nt
Title of the
Invention
---------------------- ------------
NA----
-------------- -------- ------------
6 PARTICULARS FOR FILING PATENT COOPERATION TREATY (PCT)
NATIONAL PHASE APPLICATION
International application number International filing date as allotted

50
by the receiving office
-----------------------------------NA-----------------
-----
----------------------
7 PARTICULARSFORFILINGDIVISIONALAPPLICATION
Original (First) application number Date of filing of Original {first)
application
---------------------------------------NA-------------
----
-------------------------------------
8 PARTICULARSFORFILINGPATENTOFAD
DITION
Mainapplication/patentNumber
---------------------------------------NA-------------
----
Dateoffilingofmainapplication
-------------------------------------
9 DECLARATION :
(i) Declaration by the inventor(s)
We the above named inventors are the true and first inventors for this invention and
declare that the applicant herein is one of the true inventors and assigned as an
applicant by us.
(a) Date:
(b) Signature:
(c) Name: Stuti Vyas
(a)Date:
(b)Signature:
(c)Name: Drashti Sheth
(a)Date:
(b)Signature:
(c)Name: Jay Vala
(ii) Declaration by the applicant(s) in the convention country
I/We, the applicant(s) in the convention country declare that the applicant(s) herein
is/are my/our assignee or legal representative.
(a) Date:
(b) Signature (s):------------------------------NA--------------------------------------
(c) Name of the signatory (s) :
(a)Date:
(b)Signature (s):------------------------------NA--------------------------------------
(c)Name of the signatory (s) :

51
(a)Date:
(b)Signature (s):------------------------------NA--------------------------------------
(c)Name of the signatory (s) :
(iii) Declaration by the applicant:
I, the applicant hereby declare(s) that:—
* I amin possession of the above-mentioned invention.
* The provisional specification relating to the invention is filed with this application.
* There is no lawful ground of objection to the grant of the Patent to me.
* I am the true inventor cum applicant of this Patent application.
* The application or each of the applications, particulars of which are given in Para 5
was the first application in convention country/countries in respect of my invention.
-----NA-----
* I claim the priority from the above mentioned application(s) filed in convention
country / countries and state that no application for protection in respect of the
invention had been made in a convention country before that date by me/us or by
any person from which I/We derive the title. -------NA-------
* My/our application in India is based on international application under Patent
Cooperation Treaty (PCT) as mentioned in Para - 6. -------NA-------
* The application is divided out of my/our application particulars of which are given
in Para - 7 and pray that this application may be treated as deemed to have been filed
on under section 16 of the Act. -------NA-------
* The said invention is an improvement in or modification of the invention
particulars of which are given in Para - 8.-------NA-------
1
0
FOLLOWING ARE THE ATTACHMENTS WITH THE APPLICATION:
(a) Provisional specification on Form 2
(b) Statement and undertaking on Form 3
Application fee for filing of Provisional Patent application as a natural person that
is of Rs. 1,000/- (Rs. One thousand only) is paid in terms of Bank Draft bearing
no. ____155206______ Date _26/05/2011______on __State Bank of
India______ Bank.
I hereby declare that to the best of my knowledge, information and belief the fact
and matters stated herein are correct and I request that a patent may be granted to
me for the said invention.
Dated this _27th
______ day of ___May_____ 2011________.

52
Signature: _____________________
Name: Stuti Vyas
To, The Controller of Patent
The Patent Office, at Mumbai
Note.—"Repeat boxes in case of more than one entry.
"To be signed by the applicant(s) or by authorised registered patent agent
otherwise where mentioned.
"Tick (~J)/Cross (x) whichever is applicable/not applicable in declaration in para
9.
•Name of the inventor and applicant should be given in full, family name in the
beginning.
'Complete address of the inventor and applicant should be given stating the postal
index no./code, State and country,
"Strike out the column which is/are not applicable *For fee: See First Schedule.

53
FORM 2
THE PATENT ACT 1970
(39 OF 1970 )
&
PROVISIONAL SPECIFICATION
( See section 10 and rule 13 )
“QUADCOPTER SURVILLANCE SYSTEM”
Stuti Vyas, 19 Viral Park Society, b/h Samta flats, Subanpura,Vadodara-390023, Gujarat,
India.

54
The following specification describes the nature of invention:
Quad Copter Surveillance System
Field of the Invention
This invention relates to a Quadcopter surveillance system used for surveillance and
monitoring purpose.
Background of the Invention and Prior Art
Quad copter is an aerial vehicle which is operated to fly independently. There are
several advantages to quad copters over comparably-scaled helicopters. First, quad
rotors do not require mechanical linkages to vary the rotor blade pitch angle as they
spin. This simplifies the design and maintenance of the vehicle. Second, the use of
four rotors allows each individual rotor to have a smaller diameter than the equivalent
helicopter rotor, allowing them to possess less kinetic energy during flight. This
reduces the damage caused should the rotors hit anything. For small-scale UAV’s,
this makes the vehicles safer for close interaction. Some small-scale quad -copters
have frames that enclose the rotors, permitting flights through more challenging
environments, with lower risk of damaging the vehicle or its surroundings. The
prototype has four arms made of light weight fiber frame to which four motors can be
assembled. These motors are controlled by means of electronic speed controllers
(ESC).These ESC’s are connected to the pins of control board. The signal from
microcontroller goes to ESC’s which in turn control the speed of motor. In this design
we are using four brushless motors which is able to make the prototype fly and to
change its direction. In this type gyroscopes are used to attain stability of quad copter.
These gyros are used to maintain good stability condition so that it can balance the
whole body of it. The power distribution in this system is done by a high capacity Li-
Po battery of 11.1V giving adequate power supply.
Object of the Invention: The main objectives of the Sign Language Translator are as
follows:
1. Focuses on developing a remotely operated Quad copter system.
2. UAVs can serve more tactical operations.
Brief Description of the Drawing: This invention is illustrated in the accompanying
drawings, throughout which like reference letters indicate corresponding parts in the
various figures.
FIG. 1 is a block diagram showing the principal components of the proposed device

57
FIG. 2 is the flow-chart of the entire operation

58
Description of Preferred Embodiments:
Microcontroller unit (ATmega 16), Electronic Speed controller, Power Distribution
board, Frame, Brushless Motors, Camera Module, Low Battery Indicator, Li-Po Battery,
Gyro, Accelerometer, Decoder, Connecting Wires.
The signal received by the antenna will be decoded and will be given to the
microcontroller which in our case is Atmega16. Atmega16 will provide signal (PWM)
according to the input provided by the decoder to the ESC and it will turn the motor on.
To assist the quad in flight we will use sensors such as Gyro, Accelerometer, and in some
cases Magnetometer for extra yaw stability. These sensors will provide the coordinates to
the quad-copter and will help in maintaining stability.
A GPS can also be installed in the quad-copter so as to provide the whereabouts of the
copter.
The quad copter will have an Auto mode in which it will be stable at a place and the
movement of it will be restricted to that place only. This mode will be useful in many
cases. Strong wind can make quad hover for its main position, in this mode it will be
stable and will be locked at a single place so that the necessary task can be completed.
This mode will smartly use the sensors on it to know its position, then a feedback system
will ensure that the quad will be locked at its position and any external force applied will
be countered and stability is achieved.
Proximity sensors which are used in mobile phones will be used here. These sensors will
indicate when quad is going to collide.
Ultrasonic Ranging meters will help in measuring the distance.
We will use a Lithium-Polymer Battery, this battery has high discharging rate so it meets
the requirement of the brushless motors. As indicated above that the discharge rate is
high, we will use a battery indicator which will notify us on battery status.
Dated 2nd
day of May 2014
(Stuti Vyas)
(Inventor and Applicant)

59
FORM 3
THE PATENTS ACT, 1970 (39 of 1970)
&
STATEMENT AND UNDERTAKING UNDER SECTION 8
(See section 8, rule 12)
1. Name of the applicant: I, Stuti Vyas, having Indian nationality and residing at 19,
Viral Park Society, Subhanpura, Vadodara-390023, Gujarat, India.Email:
vyasstuti13@gmail.com,Tel (M): +91-8347140807
2. Name of the applicant: I, Drashti Sheth, having Indian nationality and residing at
C-38,39 Pallav Park society b/h Bright school, Karelibaugh, Vadodara Email:
drashtisheth3112@gmail.com
3. Name of the applicant: I, Jay Vala, having Indian nationality and residing at
Kadodara, ta: kodinar Gir Somnath 362720, Gujarat, Indian. Email:
jay.vala@msn.com
hereby declare
(i) thatwe have not made any this application for the same/substantially the same
invention outside India.
4. Name and address of the assignee: ……….NA………..
(ii) that the rights in the application (s) has/have been assigned to……NA…….that We
undertake that upto the date of grant of the patent by the Controller, We would keep him
informed in writing the details regarding corresponding applications for patents filed
outside India within three months from the date of filing of such application.
Dated this 2nd
day of May2014
5. To be signed by the applicant or Signature :________________
his authorized registered patentagent.
6. Name of the natural person who (Ms StutiVyas )
has signed. (Inventor and Applicant)
To
The Controller of Patents,
The Patent Office,
At Mumbai

HT12A/HT12E
212
Series of Encoders
Selection Table
Function Address
No.
Address/
Data No.
Data
No.
Oscillator Trigger Package
Carrier
Output
Negative
PolarityPart No.
HT12A 8 0 4
455kHz
resonator
D8~D11
18 DIP
20 SOP
38kHz No
HT12E 8 4 0
RC
oscillator
TE
18 DIP
20 SOP
No No
Note: Address/Data represents pins that can be address or data according to the decoder require-
ment.
1 April 11, 2000
General Description
The 212
encoders are a series of CMOS LSIs for
remote control system applications. They are
capable of encoding information which consists
of N address bits and 12-N data bits. Each ad-
dress/data input can be set to one of the two
logic states. The programmed addresses/data
are transmitted together with the header bits
via an RF or an infrared transmission medium
upon receipt of a trigger signal. The capability
to select a TE trigger on the HT12E or a DATA
trigger on the HT12A further enhances the ap-
plication flexibility of the 212
series of encoders.
The HT12A additionally provides a 38kHz car-
rier for infrared systems.
Features
· Operating voltage
- 2.4V~5V for the HT12A
- 2.4V~12V for the HT12E
· Low power and high noise immunity CMOS
technology
· Low standby current: 0.1mA (typ.) at
VDD=5V
· HT12A with a 38kHz carrier for infrared
transmission medium
· Minimum transmission word
- Four words for the HT12E
- One word for the HT12A
· Built-in oscillator needs only 5% resistor
· Data code has positive polarity
· Minimal external components
· HT12A/E: 18-pin DIP/20-pin SOP package
Applications
· Burglar alarm system
· Smoke and fire alarm system
· Garage door controllers
· Car door controllers
· Car alarm system
· Security system
· Cordless telephones
· Other remote control systems
57

Pin Assignment
Pin Description
Pin Name I/O
Internal
Connection
Description
A0~A7 I
CMOS IN
Pull-high
(HT12A)
Input pins for address A0~A7 setting
These pins can be externally set to VSS or left open
NMOS
TRANSMISSION
GATE
PROTECTION
DIODE
(HT12E)
AD8~AD11 I
NMOS
TRANSMISSION
GATE
PROTECTION
DIODE
(HT12E)
Input pins for address/data AD8~AD11 setting
These pins can be externally set to VSS or left open
D8~D11 I
CMOS IN
Pull-high
Input pins for data D8~D11 setting and transmission en-
able, active low
These pins should be externally set to VSS or left open
(see Note)
DOUT O CMOS OUT Encoder data serial transmission output
L/MB I
CMOS IN
Pull-high
Latch/Momentary transmission format selection pin:
Latch: Floating or VDD
Momentary: VSS
HT12A/HT12E
3 April 11, 2000
8 - A d d r e s s
4 - D a t a
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
V D D
D O U T
X 1
X 2
L / M B
D 1 1
D 1 0
D 9
D 8
1
2
3
4
5
6
7
8
9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
1 0
8 - A d d r e s s
4 - D a t a
1
2
3
4
5
6
7
8
9
1 0
2 0
1 9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
N C
V D D
D O U T
X 1
X 2
L / M B
D 1 1
D 1 0
D 9
D 8
N C
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
H T 1 2 A
1 8 D I P
H T 1 2 A
2 0 S O P
8 - A d d r e s s
4 - A d d r e s s / D a t a
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
V D D
D O U T
O S C 1
O S C 2
T E
A D 1 1
A D 1 0
A D 9
A D 8
1
2
3
4
5
6
7
8
9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
1 0
H T 1 2 E
1 8 D I P
8 - A d d r e s s
4 - A d d r e s s / D a t a
1
2
3
4
5
6
7
8
9
1 0
2 0
1 9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
N C
V D D
D O U T
O S C 1
O S C 2
T E
A D 1 1
A D 1 0
A D 9
A D 8
N C
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
H T 1 2 E
2 0 S O P

Pin Name I/O
Internal
Connection
Description
TE I
CMOS IN
Pull-high
Transmission enable, active low (see Note)
OSC1 I OSCILLATOR 1 Oscillator input pin
OSC2 O OSCILLATOR 1 Oscillator output pin
X1 I OSCILLATOR 2 455kHz resonator oscillator input
X2 O OSCILLATOR 2 455kHz resonator oscillator output
VSS I ¾ Negative power supply, grounds
VDD I ¾ Positive power supply
Note: D8~D11 are all data input and transmission enable pins of the HT12A.
TE is a transmission enable pin of the HT12E.
Approximate internal connections
Absolute Maximum Ratings
Supply Voltage (HT12A) ..............-0.3V to 5.5V Supply Voltage (HT12E) ...............-0.3V to 13V
Input Voltage....................VSS-0.3 to VDD+0.3V Storage Temperature.................-50°C to 125°C
Operating Temperature...............-20°C to 75°C
Note: These are stress ratings only. Stresses exceeding the range specified under ²Absolute Maxi-
mum Ratings² may cause substantial damage to the device. Functional operation of this device
at other conditions beyond those listed in the specification is not implied and prolonged expo-
sure to extreme conditions may affect device reliability.
HT12A/HT12E
4 April 11, 2000
N M O S
T R A N S M I S S I O N
G A T E
C M O S I N
P u l l - h i g h
C M O S O U T O S C I L L A T O R 1
O S C 2
O S C 1
O S C I L L A T O R 2
X 1 X 2
E N
N M O S T R A N S M I S S I O N G A T E
P R O T E C T I O N D I O D E
V D D

HT12D/HT12F
212
Series of Decoders
Selection Table
Function Address
No.
Data
VT Oscillator Trigger Package
Part No. No. Type
HT12D 8 4 L Ö RC oscillator DIN active ²Hi² 18DIP, 20SOP
HT12F 12 0 ¾ Ö RC oscillator DIN active ²Hi² 18DIP, 20SOP
Notes: Data type: L stands for latch type data output.
VT can be used as a momentary data output.
Rev. 1.10 1 November 18, 2002
General Description
The 212
decoders are a series of CMOS LSIs for remote
control system applications. They are paired with
Holtek¢s 212
series of encoders (refer to the encoder/de-
coder cross reference table). For proper operation, a
pair of encoder/decoder with the same number of ad-
dresses and data format should be chosen.
The decoders receive serial addresses and data from a
programmed 212
series of encoders that are transmitted
by a carrier using an RF or an IR transmission medium.
They compare the serial input data three times continu-
ously with their local addresses. If no error or un-
matched codes are found, the input data codes are
decoded and then transferred to the output pins. The VT
pin also goes high to indicate a valid transmission.
The 212
series of decoders are capable of decoding
informations that consist of N bits of address and 12-N
bits of data. Of this series, the HT12D is arranged to pro-
vide 8 address bits and 4 data bits, and HT12F is used to
decode 12 bits of address information.
Features
· Operating voltage: 2.4V~12V
· Low power and high noise immunity CMOS
technology
· Low standby current
· Capable of decoding 12 bits of information
· Binary address setting
· Received codes are checked 3 times
· Address/Data number combination
- HT12D: 8 address bits and 4 data bits
- HT12F: 12 address bits only
· Built-in oscillator needs only 5% resistor
· Valid transmission indicator
· Easy interface with an RF or an infrared transmission
medium
· Minimal external components
· Pair with Holtek¢s 212
series of encoders
· 18-pin DIP, 20-pin SOP package
Applications
· Burglar alarm system
· Smoke and fire alarm system
· Garage door controllers
· Car door controllers
· Car alarm system
· Security system
· Cordless telephones
· Other remote control systems

Block Diagram
Note: The address/data pins are available in various combinations (see the address/data table).
Pin Assignment
Pin Description
Pin Name I/O
Internal
Connection
Description
A0~A11 (HT12F)
I
NMOS
Transmission Gate
These pins can be externally set to VSS or left open.
A0~A7 (HT12D)
These pins can be externally set to VSS or left open.
D8~D11 (HT12D) O CMOS OUT Output data pins, power-on state is low.
DIN I CMOS IN Serial data input pin
VT O CMOS OUT Valid transmission, active high
OSC1 I Oscillator Oscillator input pin
OSC2 O Oscillator Oscillator output pin
VSS ¾ ¾ Negative power supply, ground
VDD ¾ ¾ Positive power supply
HT12D/HT12F
Rev. 1.10 2 November 18, 2002
D a t a S h i f t
R e g i s t e r
O s c i l l a t o r
B u f f e r
S y n c . D e t e c t o r
D i v i d e r
C o m p a r a t o r C o m p a r a t o r
B u f f e rT r a n s m i s s i o n G a t e C i r c u i t
D a t a D e t e c t o r
C o n t r o l L o g i c
O S C 1O S C 2
D I N
V D D V S S
V T
D a t aL a t c h C i r c u i t
A d d r e s s
8 - A d d r e s s
4 - D a t a
1 2 - A d d r e s s
0 - D a t a
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
V D D
V T
O S C 1
O S C 2
D I N
D 1 1
D 1 0
D 9
D 8
1
2
3
4
5
6
7
8
9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
1 0
1 2 - A d d r e s s
0 - D a t a
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
V D D
V T
O S C 1
O S C 2
D I N
A 1 1
A 1 0
A 9
A 8
1
2
3
4
5
6
7
8
9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
1 0
1
2
3
4
5
6
7
8
9
1 0
2 0
1 9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
N C
V D D
V T
O S C 1
O S C 2
D I N
A 1 1
A 1 0
A 9
A 8
N C
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
8 - A d d r e s s
4 - D a t a
1
2
3
4
5
6
7
8
9
1 0
2 0
1 9
1 8
1 7
1 6
1 5
1 4
1 3
1 2
1 1
N C
V D D
V T
O S C 1
O S C 2
D I N
D 1 1
D 1 0
D 9
D 8
N C
A 0
A 1
A 2
A 3
A 4
A 5
A 6
A 7
V S S
H T 1 2 F
2 0 S O P - A
H T 1 2 F
1 8 D I P - A
H T 1 2 D
1 8 D I P - A
H T 1 2 D
2 0 S O P - A

1
Features
• High-performance, Low-power AVR®
8-bit Microcontroller
• Advanced RISC Architecture
– 131 Powerful Instructions – Most Single-clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier
• Nonvolatile Program and Data Memories
– 16K Bytes of In-System Self-Programmable Flash
Endurance: 10,000 Write/Erase Cycles
– Optional Boot Code Section with Independent Lock Bits
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
– 512 Bytes EEPROM
Endurance: 100,000 Write/Erase Cycles
– 1K Byte Internal SRAM
– Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
– Boundary-scan Capabilities According to the JTAG Standard
– Extensive On-chip Debug Support
– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator
• Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby
and Extended Standby
• I/O and Packages
– 32 Programmable I/O Lines
– 40-pin PDIP, 44-lead TQFP, and 44-pad MLF
• Operating Voltages
– 2.7 - 5.5V for ATmega16L
– 4.5 - 5.5V for ATmega16
• Speed Grades
– 0 - 8 MHz for ATmega16L
– 0 - 16 MHz for ATmega16
8-bit
Microcontroller
with 16K Bytes
In-System
Programmable
Flash
ATmega16
ATmega16L
Preliminary
Rev. 2466E–AVR–10/02

2 ATmega16(L)
2466E–AVR–10/02
Pin Configurations Figure 1. Pinouts ATmega16
Disclaimer Typical values contained in this data sheet are based on simulations and characteriza-
tion of other AVR microcontrollers manufactured on the same process technology. Min
and Max values will be available after the device is characterized.
(XCK/T0)  PB0
(T1)  PB1
(INT2/AIN0)  PB2
(OC0/AIN1)  PB3
(SS)  PB4
(MOSI)  PB5
(MISO)  PB6
(SCK)  PB7
RESET
VCC
GND
XTAL2
XTAL1
(RXD)  PD0
(TXD)  PD1
(INT0)  PD2
(INT1)  PD3
(OC1B)  PD4
(OC1A)  PD5
(ICP)  PD6
PA0  (ADC0)
PA1  (ADC1)
PA2  (ADC2)
PA3  (ADC3)
PA4  (ADC4)
PA5  (ADC5)
PA6  (ADC6)
PA7  (ADC7)
AREF
GND
AVCC
PC7  (TOSC2)
PC6  (TOSC1)
PC5  (TDI)
PC4  (TDO)
PC3  (TMS)
PC2  (TCK)
PC1  (SDA)
PC0  (SCL)
PD7  (OC2)
PA4  (ADC4)
PA5  (ADC5)
PA6  (ADC6)
PA7  (ADC7)
AREF
GND
AVCC
PC7  (TOSC2)
PC6  (TOSC1)
PC5  (TDI)
PC4  (TDO)
(MOSI)  PB5
(MISO)  PB6
(SCK)  PB7
RESET
VCC
GND
XTAL2
XTAL1
(RXD)  PD0
(TXD)  PD1
(INT0)  PD2
(INT1)  PD3
(OC1B)  PD4
(OC1A)  PD5
(ICP)  PD6
(OC2)  PD7
VCC
GND
(SCL)  PC0
(SDA)  PC1
(TCK)  PC2
(TMS)  PC3
PB4  (SS)
PB3  (AIN1/OC0)
PB2  (AIN0/INT2)
PB1  (T1)
PB0  (XCK/T0)
GND
VCC
PA0  (ADC0)
PA1  (ADC1)
PA2  (ADC2)
PA3  (ADC3)
PDIP
TQFP/MLF

3
ATmega16(L)
2466E–AVR–10/02
Overview The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced
RISC architecture. By executing powerful instructions in a single clock cycle, the
ATmega16 achieves throughputs approaching 1 MIPS per MHz allowing the system
designer to optimize power consumption versus processing speed.
Block Diagram Figure 2. Block Diagram
INTERNAL
OSCILLATOR
OSCILLATOR
WATCHDOG
TIMER
MCU CTRL.
& TIMING
OSCILLATOR
TIMERS/
COUNTERS
INTERRUPT
UNIT
STACK
POINTER
EEPROM
SRAM
STATUS
REGISTER
USART
PROGRAM
COUNTER
PROGRAM
FLASH
INSTRUCTION
REGISTER
INSTRUCTION
DECODER
PROGRAMMING
LOGIC
SPI
ADC
INTERFACE
COMP.
INTERFACE
PORTA DRIVERS/BUFFERS
PORTA DIGITAL INTERFACE
GENERAL
PURPOSE
REGISTERS
X
Y
Z
ALU
+
-
PORTC DRIVERS/BUFFERS
PORTC DIGITAL INTERFACE
PORTB DIGITAL INTERFACE
PORTB DRIVERS/BUFFERS
PORTD DIGITAL INTERFACE
PORTD DRIVERS/BUFFERS
XTAL1
XTAL2
RESET
CONTROL
LINES
VCC
GND
MUX &
ADC
AREF
PA0 - PA7 PC0 - PC7
PD0 - PD7PB0 - PB7
AVR CPU
TWI
AVCC
INTERNAL
CALIBRATED
OSCILLATOR

4 ATmega16(L)
2466E–AVR–10/02
The AVR core combines a rich instruction set with 32 general purpose working registers.
All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing
two independent registers to be accessed in one single instruction executed in one clock
cycle. The resulting architecture is more code efficient while achieving throughputs up to
ten times faster than conventional CISC microcontrollers.
The ATmega16 provides the following features: 16K bytes of In-System Programmable
Flash Program memory with Read-While-Write capabilities, 512 bytes EEPROM, 1K
byte SRAM, 32 general purpose I/O lines, 32 general purpose working registers, a
JTAG interface for Boundary-scan, On-chip Debugging support and programming, three
flexible Timer/Counters with compare modes, Internal and External Interrupts, a serial
programmable USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10-bit
ADC with optional differential input stage with programmable gain (TQFP package only),
a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, and six
software selectable power saving modes. The Idle mode stops the CPU while allowing
the USART, Two-wire interface, A/D Converter, SRAM, Timer/Counters, SPI port, and
interrupt system to continue functioning. The Power-down mode saves the register con-
tents but freezes the Oscillator, disabling all other chip functions until the next External
Interrupt or Hardware Reset. In Power-save mode, the Asynchronous Timer continues
to run, allowing the user to maintain a timer base while the rest of the device is sleeping.
The ADC Noise Reduction mode stops the CPU and all I/O modules except Asynchro-
nous Timer and ADC, to minimize switching noise during ADC conversions. In Standby
mode, the crystal/resonator Oscillator is running while the rest of the device is sleeping.
This allows very fast start-up combined with low-power consumption. In Extended
Standby mode, both the main Oscillator and the Asynchronous Timer continue to run.
The device is manufactured using Atmel’s high density nonvolatile memory technology.
The On-chip ISP Flash allows the program memory to be reprogrammed in-system
through an SPI serial interface, by a conventional nonvolatile memory programmer, or
by an On-chip Boot program running on the AVR core. The boot program can use any
interface to download the application program in the Application Flash memory. Soft-
ware in the Boot Flash section will continue to run while the Application Flash section is
updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU
with In-System Self-Programmable Flash on a monolithic chip, the Atmel ATmega16 is
a powerful microcontroller that provides a highly-flexible and cost-effective solution to
many embedded control applications.
The ATmega16 AVR is supported with a full suite of program and system development
tools including: C compilers, macro assemblers, program debugger/simulators, in-circuit
emulators, and evaluation kits.
Pin Descriptions
VCC Digital supply voltage.
GND Ground.
Port A (PA7..PA0) Port A serves as the analog inputs to the A/D Converter.
Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used.
Port pins can provide internal pull-up resistors (selected for each bit). The Port A output
buffers have symmetrical drive characteristics with both high sink and source capability.
When pins PA0 to PA7 are used as inputs and are externally pulled low, they will source
current if the internal pull-up resistors are activated. The Port A pins are tri-stated when
a reset condition becomes active, even if the clock is not running.

5
ATmega16(L)
2466E–AVR–10/02
Port B (PB7..PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port B output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset
condition becomes active, even if the clock is not running.
Port B also serves the functions of various special features of the ATmega16 as listed
on page 55.
Port C (PC7..PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port C output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port C pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset
condition becomes active, even if the clock is not running. If the JTAG interface is
enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be acti-
vated even if a reset occurs.
Port C also serves the functions of the JTAG interface and other special features of the
ATmega16 as listed on page 58.
Port D (PD7..PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port D output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port D pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset
condition becomes active, even if the clock is not running.
Port D also serves the functions of various special features of the ATmega16 as listed
on page 60.
RESET Reset Input. A low level on this pin for longer than the minimum pulse length will gener-
ate a reset, even if the clock is not running. The minimum pulse length is given in Table
15 on page 35. Shorter pulses are not guaranteed to generate a reset.
XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
XTAL2 Output from the inverting Oscillator amplifier.
AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally
connected to VCC, even if the ADC is not used. If the ADC is used, it should be con-
nected to VCC through a low-pass filter.
AREF AREF is the analog reference pin for the A/D Converter.
About Code
Examples
This documentation contains simple code examples that briefly show how to use various
parts of the device. These code examples assume that the part specific header file is
included before compilation. Be aware that not all C Compiler vendors include bit defini-
tions in the header files and interrupt handling in C is compiler dependent. Please
confirm with the C Compiler documentation for more details.

6 ATmega16(L)
2466E–AVR–10/02
AVR CPU Core
Introduction This section discusses the AVR core architecture in general. The main function of the
CPU core is to ensure correct program execution. The CPU must therefore be able to
access memories, perform calculations, control peripherals, and handle interrupts.
Architectural Overview Figure 3. Block Diagram of the AVR MCU Architecture
In order to maximize performance and parallelism, the AVR uses a Harvard architecture
– with separate memories and buses for program and data. Instructions in the program
memory are executed with a single level pipelining. While one instruction is being exe-
cuted, the next instruction is pre-fetched from the program memory. This concept
enables instructions to be executed in every clock cycle. The program memory is In-
System Reprogrammable Flash memory.
The fast-access Register file contains 32 x 8-bit general purpose working registers with
a single clock cycle access time. This allows single-cycle Arithmetic Logic Unit (ALU)
operation. In a typical ALU operation, two operands are output from the Register file, the
operation is executed, and the result is stored back in the Register file – in one clock
cycle.
Six of the 32 registers can be used as three 16-bit indirect address register pointers for
Data Space addressing – enabling efficient address calculations. One of the these
address pointers can also be used as an address pointer for look up tables in Flash Pro-
gram memory. These added function registers are the 16-bit X-, Y-, and Z-register,
described later in this section.
The ALU supports arithmetic and logic operations between registers or between a con-
stant and a register. Single register operations can also be executed in the ALU. After
Flash
Program
Memory
Instruction
Register
Instruction
Decoder
Program
Counter
Control Lines
32 x 8
General
Purpose
Registrers
ALU
Status
and Control
I/O Lines
EEPROM
Data Bus 8-bit
Data
SRAM
DirectAddressing
IndirectAddressing
Interrupt
Unit
SPI
Unit
Watchdog
Timer
Analog
Comparator
I/O Module 2
I/O Module1
I/O Module n

7
ATmega16(L)
2466E–AVR–10/02
an arithmetic operation, the Status Register is updated to reflect information about the
result of the operation.
Program flow is provided by conditional and unconditional jump and call instructions,
able to directly address the whole address space. Most AVR instructions have a single
16-bit word format. Every program memory address contains a 16- or 32-bit instruction.
Program Flash memory space is divided in two sections, the Boot program section and
the Application Program section. Both sections have dedicated Lock bits for write and
read/write protection. The SPM instruction that writes into the Application Flash memory
section must reside in the Boot Program section.
During interrupts and subroutine calls, the return address program counter (PC) is
stored on the Stack. The Stack is effectively allocated in the general data SRAM, and
consequently the stack size is only limited by the total SRAM size and the usage of the
SRAM. All user programs must initialize the SP in the reset routine (before subroutines
or interrupts are executed). The Stack Pointer SP is read/write accessible in the I/O
space. The data SRAM can easily be accessed through the five different addressing
modes supported in the AVR architecture.
The memory spaces in the AVR architecture are all linear and regular memory maps.
A flexible interrupt module has its control registers in the I/O space with an additional
global interrupt enable bit in the Status Register. All interrupts have a separate interrupt
vector in the interrupt vector table. The interrupts have priority in accordance with their
interrupt vector position. The lower the interrupt vector address, the higher the priority.
The I/O memory space contains 64 addresses for CPU peripheral functions as Control
Registers, SPI, and other I/O functions. The I/O Memory can be accessed directly, or as
the Data Space locations following those of the Register file, $20 - $5F.
ALU – Arithmetic Logic
Unit
The high-performance AVR ALU operates in direct connection with all the 32 general
purpose working registers. Within a single clock cycle, arithmetic operations between
general purpose registers or between a register and an immediate are executed. The
ALU operations are divided into three main categories – arithmetic, logical, and bit-func-
tions. Some implementations of the architecture also provide a powerful multiplier
supporting both signed/unsigned multiplication and fractional format. See the “Instruc-
tion Set” section for a detailed description.
Status Register The Status Register contains information about the result of the most recently executed
arithmetic instruction. This information can be used for altering program flow in order to
perform conditional operations. Note that the Status Register is updated after all ALU
operations, as specified in the Instruction Set Reference. This will in many cases
remove the need for using the dedicated compare instructions, resulting in faster and
more compact code.
The Status Register is not automatically stored when entering an interrupt routine and
restored when returning from an interrupt. This must be handled by software.
The AVR Status Register – SREG – is defined as:
Bit 7 6 5 4 3 2 1 0
I T H S V N Z C SREG
Read/Write R/W R/W R/W R/W R/W R/W R/W R/W
Initial Value 0 0 0 0 0 0 0 0

8 ATmega16(L)
2466E–AVR–10/02
• Bit 7 – I: Global Interrupt Enable
The Global Interrupt Enable bit must be set for the interrupts to be enabled. The individ-
ual interrupt enable control is then performed in separate control registers. If the Global
Interrupt Enable Register is cleared, none of the interrupts are enabled independent of
the individual interrupt enable settings. The I-bit is cleared by hardware after an interrupt
has occurred, and is set by the RETI instruction to enable subsequent interrupts. The I-
bit can also be set and cleared by the application with the SEI and CLI instructions, as
described in the instruction set reference.
• Bit 6 – T: Bit Copy Storage
The Bit Copy instructions BLD (Bit LoaD) and BST (Bit STore) use the T-bit as source or
destination for the operated bit. A bit from a register in the Register file can be copied
into T by the BST instruction, and a bit in T can be copied into a bit in a register in the
Register file by the BLD instruction.
• Bit 5 – H: Half Carry Flag
The Half Carry Flag H indicates a half carry in some arithmetic operations. Half Carry is
useful in BCD arithmetic. See the “Instruction Set Description” for detailed information.
• Bit 4 – S: Sign Bit, S = N ⊕ V
The S-bit is always an exclusive or between the negative flag N and the two’s comple-
ment overflow flag V. See the “Instruction Set Description” for detailed information.
• Bit 3 – V: Two’s Complement Overflow Flag
The Two’s Complement Overflow Flag V supports two’s complement arithmetics. See
the “Instruction Set Description” for detailed information.
• Bit 2 – N: Negative Flag
The Negative Flag N indicates a negative result in an arithmetic or logic operation. See
the “Instruction Set Description” for detailed information.
• Bit 1 – Z: Zero Flag
The Zero Flag Z indicates a zero result in an arithmetic or logic operation. See the
“Instruction Set Description” for detailed information.
• Bit 0 – C: Carry Flag
The Carry Flag C indicates a carry in an arithmetic or logic operation. See the “Instruc-
tion Set Description” for detailed information.
General Purpose
Register File
The Register File is optimized for the AVR Enhanced RISC instruction set. In order to
achieve the required performance and flexibility, the following input/output schemes are
supported by the Register file:
• One 8-bit output operand and one 8-bit result input
• Two 8-bit output operands and one 8-bit result input
• Two 8-bit output operands and one 16-bit result input
• One 16-bit output operand and one 16-bit result input
Figure 4 shows the structure of the 32 general purpose working registers in the CPU.

74
REFERENCES
 All datasheets from www.datasheetcatalog.com
 www.quadkopters.com
 www. diydrones.com
 www.howthingsfly.si.edu

Final

Recommandé

Recommandé

Contenu connexe

Tendances

Tendances (20)

En vedette

En vedette (19)

Similaire à Final

Similaire à Final (20)

Final