This is a first year project at ISEP (Engineering School in Paris) This is 9 months project done in 2015, the project has been successfully completed from hardware to software. Programmed on the 8bit Arduino Mega.
FileName : Dossier_TIPE_DRONE.pdf
Have a look, it's a 54 pages report detailling exactly how we proceeded to build and make this functionnal drone.
The code is very messy in here, big apologies, 100% garanteed I would not put this in production like this, the code is not factorized nor cleaned. The focus during this project where on electronics and especially on key concepts : PID feedback loops, Euler Angles equations, etc...