Abstract
This project discusses the design of a four rotor autonomous aerial vehicle
platform called the Anzhelka Project. The system is based on the open source
Elev-8 quadrotor mechanical hardware platform and the Parallax P8X32A mi-
crocontroller. In this paper we discuss the preparation that we have done in
order to create a stable, autonomous vehicle. We then propose an implementa-
tion sequence that will result in a stable, autonomous hover. This paper focuses
on the practical aspects of quadrotor flight. For a theoretical treatment see the
Anzhelka project mathematics document [3].
Revisions
Current project status and files can be found at
blog.anzhelka.com
code.anzhelka.com
Version
Changes
Commiter
v0.01
All of the spelling was checked
and fixed for the first 2 sections.
Luke
v0.02
Needs to be proof read in some
areas.
Needs tables, conclu-
sions, High level, references, ap-
pendices, acknowledgements
Luke
v0.03
Cleaned up the document some,
added images and tables.
Cody
v0.04
Added
conclusion,
estimated
control loop speed, small sec-
tions, figures.
Cody
v0.05
Fixed
some
gramtical
errors,
added weights, cleaned up.
Luke
2
