D Evelopment of an a Utonomous Y 4 Copter

The developed y4 copter is an Unmanned Aerial Vehicle with autonomous subsystems which reports the fully automated y4 copter for the first time. Automation is implemented through maintaining the desired roll, pitch and yaw therefore the flight stability as well as in case of controlling elevation. An improved and efficient algorithm that uses Quaternion is implemented to determine Euler angles avoiding Gimbal lock in case of developing an inertial measurement unit. It has a self-stabilization system powered by Proportional Integral Derivative control system which is computationally affordable by an ordinary 8 bit microcontroller capable of performing only integer operations. A remote is designed to communicate with the y4 copter from the base station using XBee transceiver modules which come with secured communication with long range. The developed system demonstrates simple design offering lower cost and secured means of control.