The Quad Rotor Observer flight by Jean-Louis Naudin

Hello to All,

I have done successfully the first test flight of the Quad Rotor Observer (QRO) v4 with a new costless flight controller board V7 which uses a Atmega 168 and 3 piezo gyroscopes (NEC CG-L43). This is a personnal variant of on the KKmulticopter board widely spread on the web. I am really surprised by the stability and the flight enveloppe of this quadcopter Vs the simplicity of the firmware code (Occam's razor principle...) and the low cost of the electronic material used here in this design...

Tested setup:
- personnal flight controller v7 with Atmega168 and 3 piezo gyro CG-L43 based on the KKmulticopter board
- firmware Quadcontroller v4.5 by Rolf R Bakke
- 4 brushless motors DualSky XM2822CA 1450KV 7A
- Lipo battery 3S (11.1V) 1500 mAh
- receiver Corona CR6D 2.4 Ghz

More technical infos at:


Views: 10178

Comment by Jean-Louis Naudin on January 4, 2011 at 3:23am

Here, below, the electronic diagram of my Quad Rotor Observer v4:

The full firmware source code successfully tested in flight can be downloaded HERE

The code is compiled with AVR studio 4.

Regards, Jean-Louis

Comment by Michael Zaffuto on January 4, 2011 at 4:51am

Great example of a project that can be done with just a soldering iron, thru-hole parts only, very DIY.

Also good example of atmel assembly.  Nice to watch all of the various projects you do Jean.

Comment by Jean-Louis Naudin on January 4, 2011 at 9:44am

Below you will find the components list for the Flight Controller v7

Regards, Jean-Louis

Comment by Jean-Louis Naudin on January 4, 2011 at 9:53am

Comment by Jason Short on January 4, 2011 at 10:49am
How do you maintain the absolute angle in the quad? Do you have another sensor, use the radio, or integrate the rates really accurately. It seems like you would build up error over time and the quad wouldn't know which way is up.
I haven't looked at the code but I assume you could use the user input from the radio to drive the error to 0. Assuming the user would be fighting any slowly accumulated errors with the stick.

Comment by Jean-Louis Naudin on January 4, 2011 at 2:13pm

Hello Jason,

The QRO quadcopter with its current version of the flight controller is not able to flight alone for a long time because it hasn't a full 9DOF IMU. It need to be piloted by hands like a common RC helicopter. This is due to the fact that it use only gyros. As you know to get a stable flight for a long time a triple axis accelerometer and a triple axis magnetometer are required... In spite of its very basic electronic design (only 3 piezo gyros) the flight controller with its current firmware give a very stable and FUN flight. The QRO and also the Micro Multicopter from the Minsoo Kim's Kits  are very agile very easy to pilot outdoor and indoor...

Look at the video below about the Micro Multicopter with the same firmware as the mine and piloted by Minsoo Kim:

At this moment I really enjoy to pilot the Misoo's Micro Multicopter and my QRO. They are really fun quadcopters...

Regards, Jean-Louis

Comment by Jhon on January 4, 2011 at 9:55pm
song name? :P

Comment by Jean-Louis Naudin on January 4, 2011 at 11:02pm
Hello Jhon, This is fully indicated at the end of my QRO video...

Comment by Jason Short on January 4, 2011 at 11:44pm
Why not use the feedback from the user to correct for errors? If the user is sending commands to right the ship, you could use those to slowly correct for drift. If the gyro drift is not too bad that is. Maybe limit the integration to commands of 5 deg or less.

Comment by Jean-Louis Naudin on January 5, 2011 at 12:08am

Hello Jason, Yes, why not... but at this moment the firmware works very well as you may see in the video of the flights and the drift time is greater than the flight time (about 5 min)    ;-)

Occam's Razor principle can be applied here...


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