What is Drone ?

Drones, also known as unmanned aerial vehicles (UAV), are pilotless and non-crewed aircraft
that are capable of flight either by remote control or through the use of on-board computers.
Other names for these types of aircraft are remotely piloted vehicle (RPV), remotely piloted
aircraft (RPA), and remotely operated aircraft (ROA).
Drones are commonly used by the military, but are also being implemented in search and rescue
operations and being utilized in other civil applications, such as policing and firefighting. The
technology is also allowing for hobbyists and other enthusiasts to become avid drone operators,
albeit on a relatively smaller scale.
A drone is capable of controlled, sustained level flight and is powered by a jet, reciprocating, or
electric engine. UAVs differ from cruise missiles in that drones are recovered after a mission is
complete while a cruise missile impacts its target. Military UAVs may carry and fire munitions,
while a cruise missile is a munition.
History of Drone:
The concept of unmanned aerial flight is not a new one. The idea first came to light on August
22, 1849, when Austria attacked the Italian city of Venice with unmanned balloons that were
loaded with explosives. Some balloons were launched from the Austrian ship Vulcano. While
some balloons reached their intended targets, most were caught in change winds and were blown
back over Austrian lines.
The system was under development for months and an account of the countrys plan appeared in
an article in a Vienna newspaper at the time:
Venice is to be bombarded by balloons, as the lagunes prevent the approaching of artillery. Five
balloons, each twenty-three feet in diameter, are in construction at Treviso. In a favorable wind
the balloons will be launched and directed as near to Venice as possible, and on their being
brought to vertical positions over the town, they will be fired by electro magnetism by means of
a long isolated copper wire with a large galvanic battery placed on a building. The bomb falls
perpendicularly, and explodes on reaching the ground.
While these early drones do not generally meet todays definition of a UAV, the concept was
strong enough that once winged aircraft had been invented, the concept was still alive and
kicking and would soon be implemented once again.
WORLD WAR I
The first pilotless aircraft were developed during and shortly after World War I. The first was the
Aerial Target, developed in 1916. It was intended to take down Zeppelins, but never flew.
Shortly later, the Hewitt-Sperry Automatic Airplane (the flying bomb) made its maiden flight,

demonstrating the concept of unmanned aircraft. This UAV was intended for use as an aerial
torpedo, an early version of modern cruise missiles. Control of these aircraft was achieved using
gyroscopes.
In November 1917, the Automatic Airplane was demonstrated for the US Army. Upon the
success of this demonstration, the Army commissioned a project to build an aerial torpedo, which
became known as the Kettering Bug and flew in 1918. While the technology was a success, it
wasnt in time to fight during wartime, which ended before the UAV could be developed and
deployed.
Several successors were developed during the period after WWI and prior to WWII. These
included the Larynx, tested by the Royal Navy between 1927 and 1929; the radio-controlled
Fairey Queen developed by the British in 1931; and the British follow-up UAV DH.82B
Queen Bee in 1935. Also following on the earlier work by the Army, the US Navy continued to
advance UAV technology, experimenting with radio-controlled aircraft. In 1936, the term
drone was first coined, as the head of the Navys research group used it to describe radiocontrolled aerial targets.
During the technology rush of WWII, drones were used both as training tools for antiaircraft
gunners and for aerial attack missions. Nazi Germany also had produced and used various UAVs
during the course of WWII. After the war, jet engines were applied to drones, with the first being
the Teledyne Ryan Firebee I of 1951. By 1955, the Model 1001, developed by Beechcraft, was
developed for the US Navy these UAVs were nothing more than remote-controlled airplanes
until the Vietnam Era.
MODERN ERA
The birth of US UAVs began in 1959 when the US Air Force, concerned about losing pilots over
hostile territory, began planning for unmanned flights. Following a Soviet Union shoot down of
the secret U-2 aircraft in 1960, the highly classified UAV program was launched under the
code name Red Wagon. Modern-era UAVs got their first use during the Aug 2 and Aug 4, 1964
clash in the Tonkin Gulf between the US and North Vietnamese navies. During the Vietnam War.
After Chinese photographs surfaced of downed US unmanned aircraft during and after the
Vietnam War, the official US Air Force response was no comment. However, by 1973, the US
military officially confirmed that they had been utilizing UAV technology is Vietnam, stating that
during the war, more than 3,435 UAV missions were flown, of which about 554 were lost in
combat.
During the 1973 Yom Kippur War, Israel developed the first UAV with real-time surveillance,
after Soviet Union surface-to-air missiles used by Egypt and Syria dealt heavy damage to Israels
fighter jets. The images and radar decoying provided by these UAVs helped Israel to neutralize
Syrias air defenses at the start of the 1982 Lebanon War, resulting in no pilots lost. By 1987,
Israel had developed proof-of-concept capabilities in tailless, stealth-based, three-dimensional
thrust vectoring flight control, jet steering UAVs for the first time.
Interest in UAV technology grew during the 1980s and 1990s being used during the Persian
Gulf War in 1991 and became cheaper and more capable fighting machines. While most drones

of the earlier years were primarily surveillance aircrafts, some carried munitions. The General
Atomics MQ-1, which utilized an AGM-114 Hellfire air-to-ground missile, was known as an
unmanned combat aerial vehicle (UCAV).
POST 9/11
While most UAVs were utilized by the military, the technology was commissioned by
the CIA after the September 11, 2001 terrorist attacks. Intelligence gathering operations began in
2004, with CIA-operated UAVs primarily flown over Afghanistan, Pakistan, Yemen, and
Somalia. The CIAs first UAV program was called the Eagle Program.
As of 2008, The USAF has employed 5,331 UAVs, which is twice the number of manned planes.
Of these, the Predators have been the most commendable. Unlike other UAVs, the Predator was
armed with Hellfire missiles. The Predators were used during the hunt for Osama Bin Laden and
have demonstrated the capability of pointing lasers at targets for pinpoint accuracy. The overall
success of the Predator missions is apparent because from June 2005 to June 2006 alone,
Predators carried out 2,073 successful missions in 242 separate raids.
While Predator is remotely operated via satellites from more than 7,500 miles away, the Global
Hawk operates virtually autonomously. Once the user pushes a button, alerting the UAV to take
off, the only interaction between ground and the UAV is directional instructions via GPS. Global
Hawks have the ability to take off from San Francisco, fly across the US, and map out the entire
state of Maine before having to return.
In February 2013, it was reported that UAVs were used by at least 50 countries, several of which
have made their own, including Iran, Israel and China.
Recently, UAVs are becoming increasingly popular in the commercial and private
market. Amazon.com, the largest online retailer, said in December 2013 that it was developing
drone technology to one day deliver mail autonomously.
Drones are also being developed for hobbyists and other enthusiasts. In reality, these types of
aircraft have been common since the 1930s, when Reginald Denny mass-produced the first
radio-controlled aircraft for the hobby market. While RC airplanes remained popular through the
decades, recent technology is now making them smaller, more powerful and more useful some
adding cameras and GPS trackers, as well as making them more affordable for everyday
enthusiasts.

Building of drone:

There are different types of auto pilot systems which are available . They are
NAZA-M Lite
NAZA-M V1
NAZA-M V2
We are using NAZA-M v2 in our project.

For building of a Drone:

nazam v2
building of quadcopter
components
1.flight board(light version, v2)
2.pmu
3.gps
4. led
5 carbon frame (x axis)
6 brushless propelsion motors Kv(920kv motors)
7 esc connectors (motor control)(electronics speed controller)
8 carbon fiber circuit board.

Why NAZA-Mv2?
Naza is a light weight multi-axis control platform, specially designed for multi-rotor model
hobbyists. Different from WooKong-M for heavy payloads and aero photography, Naza not only
inherits the outstanding flight stability of DJI products, but also provides excellent
maneuverability, which gives hobbyists a wonderful flight experience.
It is a small all-in-one module and supports firmware upgrades with extendible data ports. The
NazaM GPS greatly enhances the functionality of Naza-M.
With the new firmware, new attitude stabilization algorithm and optimized control, the Naza-M
V2 provides better flight performance, even without the GPS module. It has a brand new,
smoother take-off algorithm and supports double spring TX; every time you let go of the throttle
stick it will hover. The Naza PMU V2 has enhanced BEC functionality and provides extendable
CAN BUS ports, which can support iOSD, Zenmuse H3-2D gimbal (pitch control). Support is
also included for optional Bluetooth LED module to allow parameter adjustment via a mobile
APP (future firmware upgrade required for this functionality)
Features:

All-in-one Design
Nine Types of Multi-rotors Supported
New Assistant Software for Smartphone
Independent PMU with amazing function extension
Enhanced Failsafe Mode
Two Levels of Low Voltage Protections
Multi-rotor One-power Output Fail Protection
Advanced & Improved Attitude Stabilization Algorithm
Multiple Flight Control Modes/Intelligent Switching
New Assistant Software & Firmware Online Update
GPS Module Available/Accurate Position Hold

 Intelligent Orientation Control

Motor Arm and Motor Dis-arm
PPM, S-BUS & Ordinary Receiver Supported
Independent LED Module
Built-in Gimbal Stabilization Function
Remote Gain Adjustment
Whats difference of NAZA-M Lite/ NAZA-M V1/ NAZA-M V2
Product

Target

Hardware

Software

Function Extension

Major

Ability

Components

Custome
r
NAZA-M

AP/RC

Based on

NAZA lite

1.GPS (Optional)

MC

Lite

entry level

NAZA V1

Independen

2.No extended

GPSoptional

platform; no

t assistant

function (does

extension

software

notsupport NAZAV2-

BEC/LEDWill

ability

and

PMU, Zenmuse H3-

have

firmware;

2D/NAZA OSD/NAZA

independent

BT module/IOSD)

BEC and LED in

the future

NAZA-M V1

AP/RC

Can be

Share the

1.GPS (Optional)

MC

hobbyist

connected to

same

2.Function extension

GPSoptional

the NAZA V2-

NAZAM V2

through NAZAV2-

PMU, and will

assistant

PMU: such as

BEC/LED

have the

software

Zenmuse H3-

NAZA-M V2

and

2D/NAZA OSD/NAZA

expansion

firmware;

BT

function;

module/IOSD/Groun
d Station

NAZA-M

AP/RC

Optimized

Amazing function

MC

V2+GPS

hobbyist

hardware

extensionsuch as

GPS

structure;

Zenmuse H3-

NAZAPMU V2

Combo

Independent

2D/NAZA OSD/NAZA

PMU module

BT

with amazing

module/IOSD/Groun

function

d Station

extension
ability;
Independent
LED module;

Assembly and Connection:

Main controller X1

PMUX1(power management unit)

GPS X1
GPS Bracket X1
LED X1, Servo Cable X8
Micro USB CableX1
3M Adhesive Tape

LED

Main Controller:

Circuit diagram internally:

V1 Port Description

Please remember the function of each port, which may help you to use the Naza-M efficiently.

Main Controller

For roll control (left/right)

For pitch control (front/back)

For throttle control

For rudder control

For Control Mode Switch

X1

For gimbal pitch control

Or for gain tuning

X2

For D-Bus (S-Bus/ S-Bus2 compatible)

Or for gain tuning
Or for IOC switch

X3

For voltage monitor (Connect with VU V-SEN port)

M1

To #1 rotor

M2

To #2 rotor

M3

To #3 rotor

M4

To #4 rotor

M5

To #5 rotor

M6

To #6 rotor

F1

To gimbal roll servo

Or to #7 rotor (Upgrade the MC Firmware to V3.10 or above)

F2

To gimbal pitch servo

Or to #8 rotor (Upgrade the MC Firmware to V3.10 or above)

LED

LED port, for LED wire connection from Versatile Unit

EXP.

GPS port, for GPS module wire connection.

(In three-pin ports, pins near the nicks are signal pins.)

Versatile Unit

V-SEN

V-SEN port: To the X3 port of the main controller, for monitoring battery voltage and supplying

Power

Orange wire (signal wire) output: 3.3V

Red wire (power wire) output: 3A@5V

LED
LED wire, to LED port of the main controller.

USB port: PC connection for configuration and firmware upgrades.

Optional GPS & Compass

Connect to the EXP. port.

GPS unit:

The arrow mark indicated above is the pointer to navigate.

Step2 Assembly & Connection

9 TYPES MULTIROTOR CONFIGURATIONS SUPPORTED

The Naza-M V2 is a powerful flight controller for enthusiast, commercial and industrial flyers.
Its easy to install, simple to configure and above all, extremely stable. Nine types of traditional
motor mixes are supported, making it ideal for every setup.
The Naza-M V2 supports 9 types of traditional motor mixer:

We are using quad copter x in our project

Hardware
PMU V2 - New case design with CANBUS port. Enhanced BEC functionality, better heat
dissipation. Extra CANBUS ports, enhances the expandability of the system and will support
Gopro Zenmuse, iOSD and Bluetooth module for assistant software use on smart phones in the
future, etc..

NAZA V1 can also be upgraded using PMU V2 and support Gopro Zenmuse, iOSD and
Bluetooth module..

Firmware and functions

New attitude stabilization algorithm, provides better flight performance / maneuverability
New flight control performance, provides better flight experience; (flight control is smoother,
takeoff is easier)
Support for Octorotor Onemotor stopped still can land safely (Hexarotor, Octorotor)
Automatic course deviation compensation, reduced the effects of magnetic disturbance
interference around the compass detection & warningAdded IMU advanced calibration, error
identification and warning, reduced the impact of sensor error to the flight performance
Features
All-in-one Design
DJI adheres to continuous innovating and improving, with the new firmware, new attitude
stabilization algorithm and optimized hardware structure, the Naza-M V2 provides better flight
performance. The innovative All-in-one design simplifies installation and saves space and
weight. It contains inner damping, controllers, 3-axis gyroscope, 3-axis accelerometer and
barometer in its light and small Main Controller. It can measure flying altitude, attitude and
therefore can be used for autopilot/automatic control.

Independent PMU with amazing function extension

The Naza PMU V2 has enhanced BEC functionality and provides extendable CAN BUS ports,
which can support iOSD, Zenmuse H3-2D gimbal (pitch control). Support is also included for
optional Bluetooth LED module to allow parameter adjustment via a mobile APP (future
firmware upgrade required for this functionality)

PMU
Advanced & Improved Attitude Stabilization Algorithm
The latest fourth generation attitude stabilization algorithm not only inherits the outstanding
flight stability of DJI products, but also provides excellent maneuverability even without the
GPS module. It is more flexible and stable, and gives the hobbyists a wonderful flight
experience. New features have been included such GPS course automatic compensation, GPS &
Compass sensor calibration, new take-off mode and so on.

Carbon frame
he Mini D is a Clean/Dirty plate design separated by M3 dampers that allows you to take jellofree videos with your HD camera. I have flown it numerous times now but have never had any
"jello" issues. So, what makes this frame different?

3 different thickness of carbon fiber plates were used:

Arms - 3mm thickness and individual, so very easy to change and no need to buy an entire new
plate
Dirty plate & NEW - Belt design consists of 1.5mm CF, Clean-1.5mm CF ,Top plate - 1mm
CF
As you know, most of the other dirty part designs are almost identical. So i decided to make my
own Belt design. This has proven to provide an amazingly strong frame while saving both a lot
of weight, and allowing for a second dirty plate.

Mini D also includes its own Power Distribution Board! There are both "+" and "-" poles
which make it easy to attach your choice of up to 12A ESCs soldered directly.
Adjustable CG (Center-of-Gravity) via changeable dampener positions for the clean section
AND also adjustable FC (Flight Controller) positioning
Different Variables for FPV/REC camera:

CCD Camera can be used naked with provided camera plate w/ Mobius on top plate
CCD camera in metal casing mounted (3 Different position holes for Case)
Removable GP2/3 plate can be easily attached to front
Also, if you get m3 size thumb nuts for second arm hole placement, it can be foldable as well.

Kit includes
4xCF plates (Dirty, new* belt for afro ESCs,clean and top plates)
4xCF landings
4xRivnuts , used as landings and foldable mechanism. (NEW)
4xM3 vibration dampers (NEW Extra Soft)
6xAnodized black standoffs

1xGopro,mobius HD camera plate

1x Naked CCd camera plate
2xCopper plates for ESC power dist.
2x3mm belt standoffs
Screws, nuts and cable tie for landings

Why Brushless DC Motors?

Brushless DC electric motor (BLDC motors, BL motors) also known as electronically
commutated motors (ECMs, EC motors) are synchronous motors that are powered by a DC
electric source via an integrated inverter/switching power supply, which produces an AC electric
signal to drive the motor. In this context, AC, alternating current, does not imply a sinusoidal
waveform, but rather a bi-directional current with no restriction on waveform. Additional sensors
and electronics control the inverter output amplitude and waveform (and therefore percent of DC
bus usage/efficiency) and frequency (i.e. rotor speed).

Brushless motors offer several advantages over brushed DC motors,

more torque per weight,
more torque per watt (increased efficiency), increased reliability,
reduced noise,
longer lifetime (no brush and commutator erosion), elimination of ionizing sparks from
the commutator, and overall reduction of elect (EMI).

ESC Connectors:

An electronic speed control or ESC is an electronic circuit with the purpose to vary
an electric motors speed, its direction and possibly also to act as a dynamic brake. ESCs
are often used on electrically powered radio controlled models, with the variety most
often used for brushless motors essentially providing an electronically generated threephase electric power low voltage source of energy for the motor

Step3 Double Check

In this step, turn on the transmitter, connect the battery to the PMU, and then watch the LED, if
you can see the LED blinks (
), the system is working.