Quadcopter Flight Dynamics

Angular maneuvering scheme along with standard flight operations such as taking-off, landing and hovering is proposed for a quadcopter with indoor or outdoor flying capabilities. This is achieved by simultaneously controlling the speed of the four rotors in order for the quadcopter to attain the correct orientation. The total thrust is determined using the inputs of altitude, pitch and roll angles. Then the thrust that the rotors must generate independently is obtained from the ratio of the angles and the calculated thrust for maintaining the input altitude. Voltage supply that is needed to spin the rotors at a certain RPM (Rotations per minute) is obtained to produce the thrust computed in the previous step. Moreover, the procedure on varying the thrust direction of rotors is also illustrated to perform the standard flight operations.