Originally, this was started as seminar project by my brother and his classmates in 2017. The basis for this was the PDF included in the Doc folder.
In 2019, the project was further developed by my brother and me. The software as well as the CAD parts were completely revised, the circuit boards for the drone and the remote control were taken over. To edit the CAD parts, we used Autodesk Inventor 2019. For printing the parts we were allowed to use the 3D printers of EULE in Schäbisch Gmünd. The control behavior of the drone was simulated in Matlab, and the self-written control elements were first parameterized accordingly. Unfortunately, the drone was destroyed during the following flight attempts due to a connection failure.
In 2022, we rebuilt the drone, reduced the moment of inertia as well as the weight and refactored the software.
In 2024, after completing my Master's degree in Applied Computer Science, we switched to angle control instead of angular rate control and integrated a more advanced radio control system. Since the angle cannot be measured directly with the gyroscope and accelerometer, a Kalman filter is used to combine these two measurements.