A simple controller of minisize quad-rotor vehicle

Based on the analyzing of dynamics, one kind of quad-rotor controller is designed in this research. The quad-rotor is driven by four brushless DC micro-motors, with Mega644 being in rapport with three-axis gyro sensors, three-axis acceleration sensors, altitude pressure sensor, electronic compass and GPS signals, which can at the same time receives PWM wave flight order of the remote control receiver, propels the four non-sense of brushless DC motor speed regulators based on Mega8 single-chip through IIC data bus so as to control the aircraft´s flight attitude and directions.