Technical review of quadcoptor

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Description Write a technical review of quadcoptor firmware design and modeling. The review should include details on sensors, actuators (e.g. motors) and communication mechanisms that the firmware is controlling. The review should be no more than 8 pages. 1. Introduction Open source firmware projects for quadcoptors include PX4, ArduPilot etc. The silverware firmware https://github.com/silver13/H8mini_blue_board for example runs on the H8mini hardware – see schematic below. The firmware monitors battery power and controls:  The M688 gyro and accelerometer to provide the quadcoptor’s orientation.  The nrf24 compatible radio to retrieve user commands such as thrust, roll etc.  The motors to orientate the quadcoptor and accelerate it in a direction Simulation and modeling are used extensively in embedded systems design. For example, the quadcoptor sensors can be simulated in jmavsim and its pose (x,y,x and angular orientation) can be displayed in a simulated 3d world – see here for more details https://dev.px4.io/en/simulation/. This simulation forms a model or platform on which a given firmware can run. For example:  The HackFlight firmware https://github.com/simondlevy/Hackflight runs on hardware platforms such as the LadyBug flightcontroller https://www.tindie.com/products/TleraCorp/ladybug-flight-controller/. The HackFlight firmware also runs on the HackFlightSim platform which is a model of a real hardware platform https://github.com/simondlevy/HackflightSim.  The PX4 firmware can run on various hardware platforms and software simulated platforms. PX4 can run on the AirSim simulator – in this case sensors such as the accelerometer and gyroscope are simulated by AirSim. All simulators communicate with PX4 using the Simulator MAVLink API – see See https://dev.px4.io/en/simulation/. This API defines a set of MAVLink messages that supply sensor data from the simulated world to PX4 and return motor and actuator values from the flight code that will be applied to the simulated vehicle. The image below shows the message flow. The Review – a possible outline Part 1: Overview of Quadcoptor hardware and control See the attached papers for such an overview:  Build your own quadrotor: Open-source projects on unmanned aerial vehicles, by Hyon Lim, Jaemann Park,Daewon Lee, and H.J. Kim  “Open-Source Project (OSPs) Platform for Outdoor Quadcopter” by S. Sabikan 1 and S. W. Nawawi.  Low Cost and Flexible UAV Deployment of Sensors, by Lars Yndal Sørensen 1 , Lars Toft Jacobsen 2 and John Paulin Hansen. See also the readme and wiki for Hackflight – https://github.com/simondlevy/Hackflight Part 2: Models and firmware design See the following papers and links:  PX4: A Node-Based Multithreaded Open Source Robotics Framework for Deeply Embedded Platforms, by Lorenz Meier, Dominik Honegger and Marc Pollefeys.  Aerial Informatics and Robotics Platform (AirSim), by Shital Shah, Debadeepta Dey, Chris Lovett and Ashish Kapoor.  PX4 developer guide – https://dev.px4.io/en/  Papers from part 2 contain detail on firmware design. See also the following links and attached papers as the basis of your review of firmware design and simulation platforms. https://github.com/simondlevy/Hackflight https://github.com/simondlevy/HackflightSim https://dev.px4.io/en/simulation/ http://sirdomsen.diskstation.me/dokuwiki/doku.php https://github.com/PX4/jMAVSim https://dev.px4.io/en/concept/ http://ardupilot.org/ardupilot/ https://github.com/nikhilkalige/quadrotor