Student:	Zekeriya HACIMUHAMMED
Supervisor:	Asst. Prof. Dr. İbrahim SAVRAN
Department:	Bilgisayar Mühendisliği
Institution:	Graduate School of Natural and Applied Sciences
University:	Karadeniz Technical University Turkey

Title of the Thesis:	AUTONOMIC QUADCOPTER DESIGN BY PID CONTROL
Level:	M.Sc.
Acceptance Date:	8/8/2019
Number of Pages:	50
Registration Number:	i3665

Summary:

The Quadcopter has been widely circulated these days and has begun to be used in many

industries for many purposes, especially autonomous quadcopter search and drug delivery service,

even for military purposes.when we design our own autopilot card we can do the more and more

thinks wider the use of the ready-made autopilot.

The most important part of the autonomous quadcopter is the flight controller. In this study

by using Arduino that has a ATMEGA micro-controller as processor, all functions of flight

controller rightly can be done. The Arduino at the manuel flight take both the balance values from

the sensors and the RC transmitters signals and use the PID method to calculate the error between

the current state of the quadcopter and the needed state then finds a new rotation speed for each

rotor. In order to be able to do autonomously route but needs to GPS and Barometer, and in this

case one more PID will be used, this PID will direct the quadcopter to the distance between the

points of the route by solving the altitude and direction errors. The language used is c++ on arduino

and a quadcopter simulator for simulation was run on the matlab.

Key words: Quadcopter, Flight system, Task, Drone, Autonomous, Arduino.