This paper outlines the process of assembling an autonomous quadcopter platform from scratch and designing control laws to stabilize it using an Arduino Mega. Quadcopter dynamics are explored through the equations of motion. Then a quadcopter is designed and assembled using off-the-shelf, low-cost products to carry a camera payload which is utilized for video surveillance missions. The unstable, non-linear quadcopter dynamics are stabilized using a generic PID controller. System identification of the quadcopter is accomplished through the use of sweep data and CIF ER to obtain the dynamic model.
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