Autonomous Drone Delivery System for Light Weight Packages
CHAPTER 1
INTRODUCTION
1.1 OVERVIEW
Quad copter will start its journey with lightweight package at desired
location.Before Flying the GPS co-ordinates are given as input to onboard system
through computer.Quad copter will start fly to the given location by following the GPS
co ordinates. After reaching to the destination it will drop the packet and starts its
journey towards the home location with same route.
Figure 1.1: Tree Diagram of Complete Operation
1.1.1 Package Loading and Input of GPS Co-ordinates
In this phase the required lightweight package is attached to the quadcopter at the bottom
side, then all the parameters of quadcopter will gets checked like battery capacity, etc. After that
the GPS co-ordinates of destination are given as input to the onboard system.
1.1.2 Localization and Package Dropping Phase
In this phase quadcopter localize the desired destination and travels along the air route by
following GPS coordinates to reach the location after reaching to the location it will drop the
package autonomously.
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1.1.3 Return to the launch position
In this phase after dropping package to the destination quadcopter is set to travel back
to its home location.
1.2 MOTIVATION
The Addressing the need for efficient and accurate delivery: The report could explore how UAVs
can be utilized to deliver lightweight packages in emergency conditions with more accuracy,
thereby speeding up the delivery process. It could discuss the advantages of using drones for
delivery, such as reduced cost, improved time management, and the ability to reach remote areas.
Exploring the potential of autonomous drones: The report could focus on the capabilities of
autonomous drones and their ability to operate without human pilots. It could discussthe benefits
of long-range autonomous missions and how they can be applied to deliver lightweight packages
in remote areas during emergency situations. Enhancing emergency response and disaster relief
efforts: The report could highlight how UAVs can be utilized in emergency conditions, such as
earthquakes, floods, or extreme weather events, to deliver medical kits and other essential supplies.
It could explore the advantages of using drones in such situations, including their ability to navigate
rapidly using GPS coordinates and their reduced fuel cost compared to traditional delivery
methods. Technology and innovation in delivery systems: The report could discuss the
technological aspects of the project, such as the use of companion computers and flight controllers
to control and navigate the drone. It could explore the integration of onboardcameras to capture the
delivery journey and highlight the advancements in dronetechnology for parcel delivery purposes.
Application of the project in India: The report could specifically focus on the application of
autonomous drones for lightweight package delivery in India. It could discuss the potential benefits
for the country, such as reducing manpower, improving delivery times, and overcoming challenges
posed by remote locations. The report could explore the feasibility and impact of implementing
such a system in the Indian context.
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1.3 PRINCIPLE OF QUADCOPTER OPERATION
The basic Quadcopter design consists of four complete rotor assemblies attached at equal
distances from each other and a central unit. All the rotors are located within the same plane and
oriented such that the thrust generated by each rotor is perpendicular to the vehicle. If the rotors
are comprised of parts with the same specifications and expected performance, each will produce
the same amount of thrust given a specific power input. The angular momentum of any of the four
rotors generates a torque about the inertial centre of mass of the vehicle which can be effectively
counter balanced by the torque created from the opposing rotor. This configuration requires that
opposite rotors spin in the same direction while adjacent rotors spin in opposite directions.
The following figure shows the ‘X’ configuration of Quadcopter.‘X’ Configuration: In this
configuration two motors of quadcopter rotates in clockwise and other two are rotates in
anticlockwise. Opposite motors will rotate in the same direction. Quadcopter operating flight
controller’s front will be pointing to the direction between rotor-1 and rotor-2.
Figure 1.3: Quadcopter with X configuration
The successful operation of a quadcopter relies on the principles of its design and control
mechanisms. In a quadcopter, four rotor assemblies are evenly spaced and situated within the same
plane. Each rotor generates thrust perpendicular to the vehicle, and their angular momentum creates
torque that is counterbalanced by opposing rotors. This configuration requires two rotors to rotate
clockwise and the other two to rotate counterclockwise, with opposite rotors spinning in the same
direction. The quadcopter's flight controller plays a vital role in maintaining stability and
maneuverability. It receives input from the onboard computer or remote control and adjusts the
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Autonomous Drone Delivery System for Light Weight Packages
speed and direction of each rotor accordingly. Sensors like accelerometers, gyroscopes, and
magnetometers provide feedback on the quadcopter's position and attitude, helping the flight
controller maintain stability.
With autonomous
capabilities, the quadcopter can follow
predetermined routes using GPS navigation and waypoint tracking. Safety features and redundancy
mechanisms ensure the quadcopter's reliability, while ongoing advancements in technology aim to
overcome challenges and improve efficiency. Overall, understanding the principles of quadcopter
operation is crucial for the successful implementation of autonomous delivery systems. The
quadcopter's autonomous flight capabilities are achieved through the integration of an onboard
computer and GPS navigation system. The onboard computer processes data from the GPS,
enabling the quadcopter to autonomously follow pre-defined routes or coordinates. Navigation
algorithms and waypoint tracking mechanisms ensure accurate and reliable autonomous flight,
allowing the quadcopter to navigate to specific destinations with precision. Safety features and
redundancy mechanisms are crucial in quadcopter systems. Backup power systems, redundant
sensors, and fail-safe protocols contribute to safe operations and mitigate potential risks. These
safety measures enhance the reliability and robustness of the quadcopter, instilling confidence in
its ability to carry out delivery missions effectively and securely. While quadcopter-based delivery
systems offer significant potential, they also face challenges and limitations. Flight time is
constrained by battery capacity, weather conditions canimpact flight stability and safety, regulatory
restrictions govern airspace usage, and payload capacity is limited. Overcoming these challenges
requires ongoing research and development efforts, aiming to improve battery technology, enhance
flight control algorithms, and address regulatory frameworks. Looking to the future, the
advancement of quadcopter technology continues to progress. Innovations such as swarming
capabilities, which enable coordinated flight among multiple drones, can revolutionize delivery
operations. Obstacle detection and avoidance systems enhance the safety and reliability of
autonomous flight. Advances in battery and power management systems aim to extend flight time
and increase payload capacity. With further advancements, quadcopter-based delivery systems
hold tremendous promise for efficient, timely,and environmentally friendly parcel transportation.
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CHAPTER 2
LITERATURE SURVEY
The following survey helped us in finding the right set of sensors and modules for
building our proposed model.
M. This M. Kulbacki et al., "Survey of Drones for Agriculture Automation from Planting to
Harvest," 2018 IEEE 22nd International Conference on Intelligent Engineering Systems (INES),
2018, pp. 000353-000358, doi: 10.1109/INES.2018.8523943.Several studies have been devoted
and deployed with various issues towards design and implementation of using quadcopter for
many applications. An examples on how a drone could be utilize in an everyday life context is
given in, where the authors designed a system that uses the drone in agricultural monitoring. The
agricultural farm is surveyed by an infrared camera which will show the colour image displaying
the difference between infected or diseased crop and matured crop.
E. Frachtenberg, "Practical Drone Delivery," in Computer, vol. 52, no. 12, pp. 53-57, Dec. 2019,
doi: 10.1109/MC.2019.2942290. The authors in [2], introduced autonomous quadcopter for
product home delivery using the android device as on-board pro cessing unit and connecting to
APM flight controller.
S. Prathibha, K. R. Saradha, P. Sharmila and S. Kaveya, "AI and Web Application in Medicine
Delivery Drones," 2022 International Conference on Applied Artificial Intelligence and
Computing (ICAAIC), 2022, pp. 48-53, doi: 10.1109/ICAAIC53929.2022.9792902. The context
in [3], provided a system of quadcopter for drug shipments. They introduce a very useful android
application to be used by the client and pharmacies to request such a medicine. introduce the
design of quadcopter to be guided autonomously using GPS module. In health care field the author
in [13], provided a study to use drones for clinical specimensin rural areas. This study usesa Travel
salesman algorithm (TSP) to implement multiple destination delivery to visit all the points only
once for the shortest path
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S. S. Rani, S. Pradeep, R. M. Dinesh and S. G. Prabhu, "OTP Based Authentication Model for
Autonomous Delivery Systems Using Raspberry Pi," 2022 International Conference on Intelligent
Controller
and
Computing
for
Smart
Power
,
2022,
pp.
1-5,
doi:
10.1109/ICICCSP53532.2022.9862505.Another useful example to transfer video using
quadcopter in, where the authors introduced a monitoring system using quadcopter with an
attached camera to the Raspberry PI to evaluate the video transfer using different protocols.
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CHAPTER 3
PROPOSED SYSTEM
In this project the proposed system is to deliver the packet to a one particular destination using
drone and come back to the same start point after delivering it.GPS is used to reach the destination
and assigning of the coordinates.
Fig 3.1 Proposed System
In the above figure (3.1) depicts the complete operation of how a drone is going to deliver the
package .In the second step we can see how the drone is going to map the coordinates once the
drone deliver the package it will return to same point back. basic steps of the system are
summarized as follows:

Read GPS points

Deliver drug

Return to Base
3.1 OBJECTIVES
1. Design and build a drone
2. Design and build an orientation controller
3. Make the drone airborne by manual control
4. If there is enough time a collision detector system should be implemented.
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3.2 EXPECTED OUTCOMES
The term "Autonomous QC" suggests that the system operates independently, without human
intervention. It is capable of performing quality control functions, which may involve inspecting,
testing, or verifying the goods before transport. Once the goods are ready for delivery, the
Autonomous QC system will initiate the transportation process. It will take off and navigate
through the air to reach the desired location. The mode of transportation mentioned here is flying,
indicating that the system may utilize unmanned aerial vehicles (drones) or other airborne
technologies.
The final objective is to deliver the goods to the specified destination, which is determined
by the given coordinates. These coordinates are likely to represent the latitude and longitude of
the desired location, allowing the Autonomous QC system to precisely navigate and drop off the
goods.
In summary, the expected outcome of the Autonomous QC system is the seamless pickup, airborne
transport, and successful delivery of goods to the desired location, as determined by the provided
coordinates.
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CHAPTER 4
METHODOLOGY
4.1 SYSTEM ARCHITECTURE

Frame

Motors

Propellers

ESC

Flight Controller

GPS
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1.Frame
Fig.4.1 Frame of Drone
A drone frame refers to the physical structure or chassis of a drone, which provides support and
houses various components necessary for flight. It serves as the foundation upon which all other
drone components are attached or integrated.
The primary purpose of a drone frame is to provide structural integrity and stability while keeping
the weight as low as possible. A typical drone frame consists of several main components:
Frame Arms: These are elongated structures that extend outward from the center of the frame,
usually in an X, H, or + configuration. They provide support and carry the motors and propellers,
enabling the drone to generate lift and propulsion.
Center Plate: This is the central part of the frame to which the arms are attached. It serves as a
platform for mounting the flight controller, battery, and other electronics. The center plate often
includes mounting holes and slots for secure attachment of these components.
Motor Mounts: These are brackets or structures that hold the motors securely in place on the frame
arms. Motor mounts play a crucial role in maintaining the alignment of the motors and propellers.
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Landing Gear: Some drone frames include landing gear, which provides support and stability
during takeoff and landing. Landing gear can be fixed or retractable, depending on the drone's
design.
2. Motors
Fig 4.2 Motors
The most common use of motors for drones and unmanned aerial vehicles (UAVs) is to spin the
propellers of multirotor drones to enable them to fly. Drone motors may also be found in other
unmanned vehicle subsystems, such as camera and payload gimbals, flight surfaces, antenna
rotators and landing gear.
The selection of a motor for a particular drone propulsion system will depend on many factors,
particularly the weight of the UAV. A drone motor needs to be able to generate enough thrust to
counteract the weight of the drone and enable it to achieve lift off.
The torque of a UAV motor represents its ability to change from one speed to another. Higher
torque value motors are required for larger propellers, and will draw more current than lowertorque motors.
Generally speaking, brushed motors are used in the smallest drones, whereas larger drones and
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UAVs will use brushless motors, as they can carry the extra weight of the additional electronics.
Brushless drone motors also require an electronic speed controller (ESC) to operate.
3. Propellers
Fig 4.3 Propellers
Propellers are devices that transform rotary motion into linear thrust. Drone propellers provide lift
for the aircraft by spinning and creating an airflow, which results in a pressure difference between
the top and bottom surfaces of the propeller. This accelerates a mass of air in one direction,
providing lift which counteracts the force of gravity.
Propellers for multirotor drones such as hex copter, octocopter and quadcopter propellers, are
arranged in pairs, spinning either clockwise or anti-clockwise to create a balance. Varying the
speed of these propellers allows the drone to hover, ascend, descend, or affect its yaw, pitch and
roll.
Propeller speeds are varied by changing the voltage supplied to the propeller’s motor, a process
that is handled by an Electronic Speed Controller (ESC). The correct signal is fed to the ESC by
the drone’s flight controller, which relies on inputs from either the human pilot’s controller or an
autopilot, and may also take into account information from an IMU (Inertial Measurement
System), GPS and other sensors.
Drone propeller manufacturers usually specify two main measurements, quoted in the form A x
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B. The first number is the total length of the propeller from end to end. The second is the pitch,
which is related to the angle of the propeller and is defined as how far the propeller will move
forward under ideal conditions for every rotation. This can be thought of in a similar way to how
far a screw will sink into a surface for every rotation of the screwdriver.
Propellers with higher pitch will provide more lift than a flatter blade and allow a drone to fly
faster for a partition.
4. ESC
Fig 4.4 ESC
The ESC is the component that communicates with motors how fast to spin based on the signal
received from flight controller. Each ESC controls a single motor. ESC are connected to power
supply. Four 30A ESCs are used in proposed QC. It converts the PWM signal from flight
controller or radio receiver and then drives brushless motor. ESC is a circuit used to control speed
and direction if motor by varying the magnetic forces created by windings and magnet within
motors.
Electronic speed controllers for drones are typically rated for a maximum current. ESCs that can
handle a larger current draw will usually be larger and heavier, which may be an important
consideration for smaller UAVs. ESCs also have a refresh rate in Hertz, which is how many times
a second the motor speed can be changed. Electronic speed controllers for quadcopters and other
multirotor drones may have higher refresh rates, as their stability and manoeuvrability depends
entirely on the balance of rotor speeds, and as such they require fine control over the motor RPM.
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Due to the differences in motor technology, different ESCs are required for drones with brushed
motors and those with brushless motors. Multirotor drones may have an ESC for each rotor, or an
integrated device that handles all the rotors with one system. Many drone ECSs are designed as a
system-on-chip (SoC), which means that all components, such as the microcontroller and power
management unit, are integrated into a single module. This saves space and weight, making it an
ideal solution for SWaP (size, weight and power) constrained UAVs.
Electronic Speed Controls can also handle active or regenerative braking, a process by which a
motor’s mechanical energy is converted into electrical energy that can be used to recharge the
drone’s battery. During periods where the drone is decelerating, the motor can act as a generator,
and the ESC handles.
5. Flight Controller
Fig 4.5 Flight Controller
Flight controller is the most important part of the drone. It determines the spin speed of motors
based onuser command or sensor’s signals. It is generally consisting of several sensors such as
gyroscope for orientation, accelerometer for acceleration, barometer for altitude etc.In this QC
open pilot flightcontroller is used.
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The flight controller is connected to a set of sensors. These sensors give the flight controller
information about like its height, orientation, and speed. Common sensors include an Inertial
Measurement Unit (IMU) for determining the angular speed and acceleration, a barometer for
the height, and distance sensors for detecting obstacles. Just like how we perceive as humans,
the drone filters a lot of this information and fuses some to get more efficient and precise
information. Advanced flight controllers can sense more precisely and detect differences more
quickly.
Aside from sensing what’s going on, a flight controller… unsurprisingly controls the motion of
the drone. The drone can rotate and accelerate by creating speed differences between each of its
four motors. The flight controller uses the data gathered by the sensors to calculate the desired
speed for each of the four motors. The flight controller sends this desired speed to the Electronic
Speed Controllers (ESC’s), which translates this desired speed into a signal that the motors can
understand.
5. GPS
Fig 4.6 GPS
GPS is the same system that we are all familiar with in road navigation systems. A global network
of orbiting satellites sends signals that a GPS module picks up with a radio receiver. These signals
allow the module to determine its position, speed, and time. GPS uses the concept of triangulation
to determine relative position and speed, typically using three or four satellite signals, although
some drone GPS modules will lock on to up to seven or eight separate satellite signals for optimal
performance.
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There are several different worldwide GPS systems. Within the US, the GPS network of satellites
is distributed so as to ensure that at least four satellites are theoretically visible from any given
point on the land surface. Russia operates the GLONASS GPS system of satellites, and Europe is
in the process of developing the Galileo GPS system. China is also developing its own GPS
network, the Bei Dou, while India is developing the IRNSS GPS system.
Some GPS modules on drones are capable of receiving signals from any of these sources, though
most are limited to a single system. Having access to a greater number of signals and systems can
increase accuracy of positioning, and thus all the GPS dependent features of your drone.
Especially if you plan to travel with your drone, you may want to look specifically for a GPS
drone that can receive signals from other systems. Your standard GPS drone will have position
location accuracy of a meter or so, while more advanced GPS drones can have accuracy of up to
a centimeter.
GPS technology has improved enough over the past few years to make it both affordable and
lightweight enough to be more or less standard in your average consumer drone. Even some of
the drones that would fall in the toy category come with GPS functionality. Having GPS on your
drone makes a big difference in how it performs. It plays an important role in many of the features
that pilots have come to rely on. Check out the following ways GPS helps out drone pilots.
LOAD CALCULATION
Table-1: Total mass of quadcopter
Components
Number of
quantities
Mass of
one
quantity
(gram)
Total mass
(gram)
Motor
4
60
240
Battery
1
400
400
Structure and
Other
components
1
1
Total Empty Mass
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940
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Thrust of quadcopter can be expressed
Where,
T = Thrust
D = Propeller diameter (m) = 0.254 m
ρ = Density of air (1.225m kg/cubic meter)Now,
Here,
v = Velocity of air at the propeller (m/s)Δv = Velocity of air accelerated by propeller (m/s)
Putting the value of v in (1),
But power,
Putting the value of Δv in (2),
Now, total mass lifted by quadcopter,
Again,
P = propeller constant x (rpm / 1000) powerfactor
For, propeller (10” diameter × 4.5 Pitch), propeller constant is 0.144 and power factor is 3.2. Here,
rpm of the motor = 9993.
Hence, P = 0.122 x 9.9933.2 = 192.92 W
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Therefore,
= 1.650 Kg
The results of the calculation of the quadcopter clearly showed that it would be capable of flying
with a 700- gram payload safe.
1.Improved Parcel Delivery System Design
The method of operation of IoT devices attached to parcel boxes has been dividedinto several
stages. There are four steps: the collection phase, the GPS phase, the moving phase, and the
completion phase. The technology used by Figure 2 allows you to identify the process of data
exchange. Since IoT devices, transmitter devices, and navigationdevices are each nearby, they
are connected by NFC technology, especially Bluetooth. The server is connected to the Sender
Device, IoT Device, and Scanner. In addition, IoT devices will be connected to the sending device
and scanner, while IoT devices and navigation devices will be connected through the sending
device. The scanner reads information from the Barcode and delivers it to IoT devices, and if the
IoT devices and servers are not connected,the Scanner and Server are connected. A sequence
diagram of applying an intermediate delivery algorithm to an existing parcel delivery system
is shown in Figure 3. It presents an Improved Parcel Delivery system.
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Figure 4. 7 . Wireless connection of Improved Parcel Delivery System Components.
The server calculates distance of destination and route, and notifies the courier if there isa
courier that can be disembarked. Figure 4 is a Sequence diagram that applies IoT devices and
an intermediate landing algorithm. It presents an improved Parcel Delivery system witha
centralized end-to-end IoT platform. The IoT device calculates the distance between the current
location and destination instead server. Only the resulting data are stored on the server. In other
words, data are generated from IoT devices, transmitted to Thing Plug via Lora, and data are
computed and stored in Thing Plug.
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4.3 Sequence Diagram
Fig 4.8 GPS Data Collection Stage
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When data are received from the GPS module of the IoT device, data about the current location
of the IoT device are stored. If data cannot be received from the GPS module, the following steps
are required. First, you should get a nearby access point (AP) with a Wi-Fi module. Then,
obtainthe current location information from the MAC address and API of AP [25]. If the Wi-Fi
AP is not accessible, it receives the current location information from the Bluetooth module
attached to the IoT device of the courier smartphone. Ifyou don’t get location information, you
have to wait for a specific delay and start all over again.
Figure 4.9. Sequence diagram of Improved Parcel Delivery System: IoT Devices Oriented
1.1 Shortest Path Check Stage
At this stage, we should know how to identify the shortest route to add a new destination. At the
destination, other parcels can simply stop and move to the next logistics hub. The process is as
follows. First, get GPS data from stage Section 3.2. It then calculates the distance between the
current GPS data and the destination. In case the distance is shorter than the threshold value, then
send the parcel data to the ThingPlug server via LoRa and send ID info of an IoT device to a
transmitter’s smartphone via Bluetooth. Then, add new destination information on the IoT device
andupdate the logistics route. Finally, complete the moving step and move onto stage Section 3.4.
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If the distance is longer than the threshold value, wait for a certain time delay before the loop
restarts.
1.2 Parcel Delivery Completion Stage
After the stage Section 3.3 checks the distance between the current location and destination every
fixed time, if the distance value is very small, the IoT device will recognize that the parcel has
arrived at its destination. The IoT device will send a signal by courier. Then, the courier can
recognize that the box must be lowered. In addition, the IoT device sends the completion signal to
the ThingPlug serverto update the signal. The server will then send a completion message to the
IoT device. The IoT device will emit a return signal and will be turned off. From then, the courier
will collect IoT devices.
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CHAPTER 5
SYSTEM IMPLEMENTATION
5.1 System Architecture
CONTROL
SYSTEM
AIR
STATION
GROUND
STATION
Fig 5.1 Control System
Air station
Components used in Air-station control system:
Flight Controller: PIXHAWK 2.4.8
On board companion computer: Raspberry pi 3
Receiver: FlySky FS-CT6B receiver (used to control drone manually through
remote), [not mandatory]
GPS: Ublox NEO 7M GPS
Pixhawk: is used as main operating board to send control signals. The ArduPilot Mega 2.8 is a
complete open source autopilot system. It allows the user to turn any fixed, rotary wing or
multirotor vehicle (even cars and boats) into a fully autonomous vehicle; capable of performing
programmed GPS missions with waypoints. This has the option to use the built-in compass, or an
external compass via a jumper. This makes the Pixhawk2.4..8 ideal for use with multicopters and
rovers. Pixhawk 2.8 Multicopter Flight Controller requires a GPS unit for full autonomy. It
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consumes only 360mW of power and can be run in voltage supply of 3.7V to 5.5V. It has 32 KB
RAM and 512 KB flash memory. Atmel’s ATMEGA2560 and ATMEGA32U-2 chips for
processing and USB functions respectively. Pixhawk has some on board sensors they are:Gyro: this is the angular velocity sensor; angular velocity is the change in rotational angle per unit
of time. Pixhawk 2.8 uses Gyro MPU-6000.
Accelerometer: The quadcopter can be expected to fly below 2g acceleration. Pixhawk has onboard
SCA-310- DO4 installed that has resolution of 900 counts/g, 0.0109 m/s2 maximum acceleration.
Barometer: This sensor is to measure the air pressure. Pixhawk 2.8 use barometer MS561101BA03.
Raspberry Pi 3:Raspberry Pi 3 Model B is a 1.2 GHz 64-bit quad core processor, on-board WiFi, Bluetooth and USB boot capabilities. It is a companion computer which is connected to the
APM 2.8. The Raspberry pi uses Raspbian JESSY OS with 8 GB micro SD card. APM 2.8 runs
ArduCopter V3.2.1. Most of the communication done with Raspberry Pi using SSH.
Fig 5.2 Raspberry Pi 3 Connection with Pixhawk
The pin connections are as follows: +5V, GND, TX, RX
Connect the +5v pin of Pixhawk to pin 2, GND pin to pin 6, connect TX (transmitter pin) of
Pixhawk to RX pin of Raspberry Pi i.e. pin 10, connect RX (Receiver pin) of Pixhawwk to TX pin
of Raspberry Pi i.e. pin 6. The RX and TX uses UART ports. The Telemetry Port (UART0) on the
Pixahwk and the USB Port uses the same serial port for connection, so there is a MUX
(Multiplexer) that disables the Telemetry Port if the USB is connected. So, you need a
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battery/power supply to power the Pixhawk without using a USB cable in order to use the UART0
Port and connect to the Raspberry Pi.
After that install the following packages into Raspberry pi:
sudo apt-get update
sudo apt-get install screen python-wxgtk2.8 python-matplotlib python-opencv python-pip.
python-numpy pythondev libxml2-dev libxslt-dev python-lxmlsudo pip install future
sudo pip install pymavlink
sudo pip install mavproxy Pixhawk 2.8 uses MAVLINK protocol for communication.
After this setup of connection, we can run own code python programs on raspberry pi for
autonomous drone operations using DroneKit python library.
The internet connection is provided to Raspberry Pi with the help of dongle to access remotely
and to transfer telemetry data. The camera is attached to the raspberry pi for video transmission.
GPS:Ublox NEO M8N GPS is connected to the GPS port of APM 2.8. It helps to localize the
GPS co-ordinate of desired location. APM 2.8 follows GPS to reach the destination. GPS can be
stated as external compass.
5.1.2 Ground Station
Ground-station control system consists of:
Mission Planer: It is open source software use to handle Aircraft operations. It installs firmware in
the Pixhawk 2.8 as well as it helps to calibrate in built compass. It helps to plan a mission for
quadcopter through waypoints which helps to perform operation autonomously. It also shows
telemetry data. It uses MAVLINK protocol.
Internet connection to access raspberry pi autonomously, we can run program in loop also to
perform autonomous operations. The DroneKit python programs helps to manipulate the input of
Pixhawk 2.8.Basically, the programs which are running on raspberry pi gives command to the flight
controller as well as it transfers telemetry data to the ground station.
If we want to control quadcopter manually then we have to attach receiver to Pixhawk 2.8 and it
can operate through transmitter remote at ground station.
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SITL Simulator (Software in the Loop)
Fig 5.3 Planning Mission using SITL
To use Software-in-the-Loop (SITL) in Mission Planner:
Install Mission Planner: Download and install the latest version of Mission Planner from the official
ArduPilot website (https://ardupilot.org/planner/). Set up SITL: Launch Mission Planner and go to
the "Initial Setup" tab.
. Select SITL as the connection method: On the "Flight Data" screen, click the "Connect" button in
the top right corner. In the drop-down menu, select "UDP" as the connection type. Ensure that the
UDP port is set to 14550. Start SITL: Open a command prompt or terminal window on your
computer. Navigate to the directory where Mission Planner is installed (e.g., C:\Program Files
(x86)\Mission Planner) and run the following command: css Copy code ArduCopter.exe -S -I0 -model X Replace "X" with the appropriate number for the vehicle model you selected in step 2.
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command starts the SITL simulation for the specified vehicle model. Connect Mission Planner to
SITL: In Mission Planner, click the "Connect" button again. This time, select "Connect UDP" from
the drop-down menu. Mission Planner should now establish a connection with the SITL simulation.
Configure SITL parameters: Once connected, you can configure various parameters for the
simulated vehicle. Use the "Config/Tuning" tab to adjust settings such as flight modes, PID
controllers, and other parameters according to your requirements. Plan and execute missions: With
the SITL simulation running and connected to Mission Planner, you can plan and execute missions
as you would with a real vehicle. Use the "Flight Plan" tab to create waypoints, set commands, and
define the mission parameters. You can then upload the mission to the SITL simulation and monitor
its progress. Remember that SITL provides a simulated environment, so you won't have the
physical constraints and limitations of a real vehicle. Nonetheless, it allows you to test and develop
mission plans, verify behaviors, and familiarize yourself with Mission Planner's features before
deploying them on actual hardware. Note: The specific commands and steps provided above are
based on the current knowledge and version of Mission Planner at the time of my training
(September 2021). It's possible that newer versions or updates may introduce changes or additional
features. Make sure to consult the official Mission Planner documentation or relevant resources for
the most up-to-date instructions.
Connect Mission Planner to Autopilot
Fig 5.4 Connecting Mission planner to Autopilot
Once you’ve attached the USB or Telemetry Radio, Windows will automatically assign your
autopilot a COM port number, and that will show in the drop-down menu (the actual number does
not matter). The appropriate data rate for the connection is also set (typically the USB connection
data rate is 115200 and the radio connection rate is 57600).
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Select the desired port and data rate and then press the CONNECT button to connect to the
autopilot. After connecting Mission Planner will download parameters from the autopilot and the
button will change to DISCONNECT as shown:
Fig 5.5 disconnecting Mission Planner to Autopilot
The “Stats…” hotlink beneath the port selection box, if clicked, will give information about the
connection, such as if Signing security is active, link stats, etc. Sometimes this window pops up
beneath the current screen and will have to be brought to the front to be seen.
Connecting to multiple vehicles
Additional connections can be made by right-clicking the CONNECT button and selecting
Connection Options from the drop-down list.
A file with a pre-written list of connections can be loaded with the ConnectionList drop-down
option. This is an example format of the file
tcp://127.0.0.1:5670
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udp://127.0.0.1:14550
udpcl://192.168.1.255:14550
serial:com4:115200
Mission Commands
This article describes the mission commands that are supported by Copter,Plane and
Rover when switched into Auto mode.
The MAVLink protocol defines a large number of MAV_CMD waypoint command types (sent in
a MAVLink_mission_item_message). ArduPilot implements handling for the subset of these
commands and command-parameters that are most relevant and meaningful for each of the
vehicles. Unsupported commands that are sent to a particular autopilot will simply be dropped.
Some commands and command-parameters are not implemented because they are not relevant for
particular vehicle types (for example “MAV_CMD_NAV_TAKEOFF” command makes sense for
Plane and Copter but not Rover, and the pitch parameter only makes sense for Plane). There are
also some potentially useful command-parameters that are not handled because there is a limit to
the message size, and a decision has been made to prioritize some parameters over others.
OpenDroneID Panel
Mission Planner has a special Drone ID tab in its DATA view for use with OpenDroneID modules
attached to the autopilot which allows monitoring status, attaching the required GPS for operator
location of the GCS, and UAS and Operator ID string setup.
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This control manages the exchange of GCS/Operator information with the RID module,via the
AutoPilot connection.
Mission Planner must have a source of GPS information about its location. The GPS
must provide valid NMEA GPGGA or GNGGA sentences.
This can be accomplished by either attaching a GPS to the PC’s COM or USB port(some GPS
may require an FTDI adapter) or by using an app like GPS to Bluetooth on your
phone to feed GPS data via a Bluetooth serial COM port to Mission Planner.
Fig 5.8 Connecting Bluetooth to feed GPS Location
The COM port and baud rate (normally 9600) are entered in the GCS GPS dialogs and then Connect
to Base GPS pushed. If successful, location data will immediately appear below those dialog boxes.
GPS raw output can be viewed in real time by double clicking the GPS status string under the COM
Port dropdown.
Remote ID Status Box GCS GPS: Red - Lost Connection to GPS, Orange - Connected, no Fix,
Yellow - Fix, no DGPS and Green - DGPS Fix. RID Comms: Green
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Healthy Connection, Red - Timeout (Currently 5 seconds) ARM Status: Green when Armed,
Otherwise Red with Reason in RID Armed Status Reason in Status tab. UAS ID: Red when the
UAS ID tab is not fully populated. Typically, this information will be provided by the RID module
when using Standard ID, and may be populated by the user in future implementation ofafter-market
or add-on RemoteID Broadcast Modules.
String Setup Tabs:Two tabs are provided for input of UAS and Operator information in these initial
test and development version of the interface. Some of these may become read- only and obtained
from the RemoteID module in the future, depending on jurisdiction and implementation. They are
provided for experimentation and testing initially
Master Status Indicator
Located in the left middle side of the panel. The master status will indicate RED if anyconditions
for proper operation are not valid.
Local regulations may require such a master indicator. In Mission Planner, this will bepresent in
this tab as well as on the map (pending).
Mission Planner Initial SETUP This section of Mission Planner, invoked by the Menu item
SETUP at the top of Mission Planner, has several subsections. The subsections are where you set
up and configure your autopilot to prepare it for your particular vehicle. Typically these sections
are “must do” actions that are required before first flight. What you see when you enter this section
depends on whether or not you are connected. Each menu item will bring up anew screen, each is
discussed below with links to more detail.
Install Firmware You will see this menu item if the autopilot is both connected or not; however,
this menu will only be functional when disconnected. If you have a new autopilot orif you want
to update the control software that resides in your autopilot, you must install (upload) the firmware
into it. The firmware is located at firmware.ardupilot.org. If the autopilothas ArduPilot firmware
already installed, you can use this page to upload firmware for different vehicles or versions. See
this Loading firmware page. Otherwise, you must use othermethods than Mission Planner for
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getting ArduPilot installed for the first time, see this section.From this screen you can also select
“All Options” allowing you to select and load any variation of the firmware, or “Load custom
firmware”, most often used when a developer has trial code to load.
Install Firmware LegacyYet another way to load older versions of the firmware. Again, shown only
when not connected. Mandatory Hardware¶ You will only see this menu item if the autopilot is
connected. Click this menu item to see the items you must set up before you attempt to operate
your vehicle. Specifics are located in the ArduPilot.org documents which
Fig 5.9 Installing Firmware legacy
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a mandatory setup item. Flight Modes: Refer to Plane, Copter or Rover mode pages. Failsafe: Refer
to Plane, Copter or Rover failsafe pages.
Optional HardwareThis submenu allows the configuration of optional devices, many of which can
be configured while Mission Planner is unconnected. Programming of the Sik Telemetry Radio,
UAVCAN setup, PX4 Optical Flow sensor, and Antenna Tracker can be done here, as well as the
setup of a joystick to be used in conjunction with Mission Planner. When connected, peripherals
such as Battery Monitors, Integrated OSD, Airspeed Sensors, and Rangefinders can be configured.
Also, this submenu has a Motor Test function allowing you to test the direction and order of Copter
and QuadPlane Motors.
DroneCAN/UAVCAN SLCAN The SLCAN tool inside Mission Planner allows viewing,
configuration, and software updates of DroneCAN nodes connected to the CAN bus port of the
autopilot. There are two ways to connect to the DroneCAN node: Using SLCAN directly Using
SLCAN over MAVLink Connecting to the DroneCAN
Node If using the direct SLCAN connection method, autopilot parameters have to be
configured first. See SLCAN Access on F4 based Autopilots or SLCAN Access on F7/H7 Based
Autopilots for setup information. Mission Planner should be in the disconnected state, and make
sure the SLCAN port is shown as the selected COM port in the dropdown box in the upper right
corner of Mission Planner. If using the MAVLink method, nothing is required for setup and
Mission Planner should be in the connected state via the normal MAVLink connection to the
autopilot.
In
Mission
Planner,
navigate
to
Initial
Setup->Optional
Hardware-
>DroneCAN/UAVCAN click on the highlighted red button if connecting using the direct SLCAN
method, or the appropriate green button for MAVLink communication over either CAN bus port 1
or port 2, depending on which port the node is attached. ../_images/can-drivers-parameters-slcanmp.png The autopilot will connect to Mission Planner using SLCAN, the window will populate
with DroneCAN nodes connected. ../_images/can-slcan-mpc.png If the node has a bootloader only
installed, then the firmware will need to be uploaded. MAINTENANCE will be displayed. Click
on update firmware. Firmware can be found here and downloaded for the node. ../_images/canslcan-mp- maint.png A pop-up will open. Select no and then find firmware for your node previously
downloaded and select it. ../_images/can-slcan-mp-srch.png The window will show the firmware
being uploaded and a pop-up will show
the
status.
../_images/can-slcan-mp- upd.png
../_images/can-slcan-mp-updw.png Once complete mode will change to OPERATIONAL. Press
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the Parameters button to access node settings.
Fig 5.10 UAVCAN Params
Fig 5.11 Setting Firmware to advanced
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
Warning Manager: You can create custom warning messages to be
displayed on the HUD and in the messages tab of the DATA screen, based
on the values of the status items.

MAVLink Inspector: allows monitoring, real-time, of the various
MAVLink status messages being received. Proximity: View the data
from a 360 lidar, if equipped Mavlink Signing: This allows you to setup
secure communications with the vehicle.

Mavlink mirror: This allows you to forward the MAVLink traffic to
another network- connected location for monitoring. Also see
MAVProxy Forwarding for another method.

NMEA: Output the vehicle location as a NMEA GPS string over the
network or to a COM port Follow Me: If using an attached NEMA mode
GPS on a COM port to establish the MP GPS location, can send Guided
Mode waypoints to the vehicle to follow the GCS.

Param Gen: Regenerates Mission Planners parameter list. Occasionally
required if new firmware parameters are not being displayed.

Moving Base: if NMEA GPS is attached to PC, shows PCs location as
moving on the map display

Anon Log: Allows you to hide your location when sharing log files by
creating a version with scrambled locations

FFT: Plot an FFT from a log that has IMU batch sampling enabled. See
Managing Gyro Noise with the Dynamic Harmonic Notch Filters for an
example of its use. Questions, issues,and suggestions about this page can
be raised on the forums. Issues and suggestions may be posted on the
forums or the Github Issue Tracker.
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CHAPTER 6
RESULT AND DISCUSSION
This part of the report illustrate the approach employed to deliver the packet.
Open The Mission planner Arm the quadcopter
Fig 6.1 Arming of Quadcopter
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After Arming the quadcopter navigate to simulation and plan the mission
Fig 6.2 SITL Mission Planning
Dry Run
Fig 6.3 Pixhawk Motor Run
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A small Flight
Fig 6.4 Start for mission
Drone elevating
Fig 6.5 Drone elevated
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Package Drop at the point
Fig 6.6 Package Drop
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CHAPTER 7
CONCLUSION
In this project , the development of an autonomous drone delivery system for lightweight packages
has been a significant undertaking with promising potential. The primary objective of this project
was to design a system that could efficiently transport light parcels from one location to another
without the need for human intervention, ultimately enhancing the efficiency and speed of package
delivery services.
To achieve this goal, several crucial components were utilized. The frame, motors, propellers, ESC,
Pixhawk Flight Controller, and GPS were carefully selected to ensure optimal performance and
reliability. The frame provided stability and support, while the motors and propellers enabled the
drone to generate the necessary thrust for flight. The ESC ensured smooth and precise control over
the motors, enhancing maneuverability. The Pixhawk Flight Controller acted as the brain of the
system, processing sensor data and executing flight plans, while the GPS module enabled accurate
positioning and navigation.
By combining these components, the autonomous drone delivery system demonstrated impressive
capabilities. It could accurately navigate to designated destinations, pick up and securely transport
lightweight packages, and return to its original position autonomously. This level of automation
reduces human error and significantly improves the efficiency of delivery processes.
Furthermore, the use of an autonomous drone delivery system presents various advantages. It
eliminates the need for traditional ground transportation methods, overcoming traffic congestion
and reducing carbon emissions. It also enables faster and more flexible deliveries, particularly in
remote or challenging terrain where conventional transportation may face limitations.
While this project has made substantial progress in developing an autonomous drone delivery
system, there are still areas for improvement. The system's payload capacity can be expanded to
accommodate a wider range of package sizes. Additionally, safety features, such as collision
avoidance systems, can be further enhanced to ensure the secure operation of the drones in various
environments.
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REFERENCES
[1] http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html, communication of Raspberry
pi and flight controller.
[2] Castillo, Lozano &Dzul, “Modelling and Control of Mini-Flying Machines,” Special issue
©2005 Springer PP-39-59
[3] Gabriel M. Hoffmann, Haomiao Huang, Steven L. Waslander, “Quadrotor Helicopter Flight
Dynamics and Control:Theory and Experiment” Special issue:- 23 Aug 2007 PP:- 1-20
AIAA.
[4] Setting Manual for Black or Blue version (Atmega168) Volume[1]PP-1-12[On-
line].Available: http://www.kkmulticopter.kr/?modea=manual][ Special issue March 29,
2014]
[5] GSM modem interfacing with microcontroller 8051 for SMS, PP-3-8 [On-line]. Available:
http://www.zembedded.com/gsm-modem-interfacing-withmicrocontroller-8051-forcontrol-of industrial-equipments [Special issue March 29, 2014]
[6] Michael Russell Rip, James M. Hasik, “The Precision Revolution: GPS and the Future of
Aerial Warfare,”Volume [3][ Naval Institute Press. Pp 1-12. ISBN 1- 55750-973-5.
[7] Retrieved Special issue January 14, 2010
[8] Meier, L.; Tanskanen, P.; Fraundorfer, F.; Pollefeys, M., "PIXHAWK: A system for
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2011 IEEE International Conference on , vol., no., pp.2992-2997, 9-13 May 2011
[9] http://python.dronekit.io/guide/quick_start.html, for writing own python code to perform
drone operations.
[10] https://www.slideshare.net/babimohan9/making-of-drone, for construction of drone.
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[11] P. L. Gonzalez-R, D. Canca, J. L. Andrade-Pineda, M. Calle, and 2091 J. M. Leon- Blanco,
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[13] J. B. Gacal, M. Q. Urera, and D. E. Cruz, ‘‘Flying sidekick 2095 traveling salesman
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[15] P. Kitjacharoenchai, M. Ventresca, M. Moshref-Javadi, S. Lee, 2113 J. M. A.
Tanchoco, and P. A. Brunese, ‘‘Multiple traveling 2114 salesman problem with
drones: Mathematical model and heuristic 2115 approach,’’ Comput. Ind. Eng.,
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