Technical university of mombasa faculty of engineering and technology department of electrical and electronic engineering

1026 × 998 Pixels) - Scaled (69%)” 2016) 
The third step in the design was to choose a microcontroller suitable for the project 
implementation. To do this first determine the required hardware interfaces e.g. Flight 
controllers‟ module, motors actuators and sensors. The choice of microcontroller depends either 
on digital or analogue functions. For serial to parallel conversion and vice versa these features 
are best delivered by the Atmega 644pa in the KK2.1 flight board microcontroller.

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Fig 3.2 Atmega 644 pa pin connections (“Atmega 40-Pin Development Board
avrProgrammers” 2016) 
The forth step in the design process was to design the layout of the motor and electronic speed 
controller that will be used in the construction as different motor need special circuitry and need 
battery eliminator circuits that are special for their use.
Fig 3.3 motor and ESC connections (Media365 2016) 
The fifth step in the design process was to determine the type propeller, size and dimensions 
factoring the aero-dynamics of the design and its ease of manoeuvrability 

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Fig 3.4 propellers, 2 pairs of red and blue colour each with clockwise and counter 
clockwise. 
The fifth step was to explain the Quadcopter movement mechanism
3.3 Quadcopter movement mechanism 
Quadcopter can described as a small vehicle with four propellers attached to rotor 
located at the cross frame. This aim for fixed pitch rotors are used to control the vehicle 
motion. The speeds of these four rotors are independent. By independent, pitch, roll and 
yaw attitude of the vehicle can be control easily. Pitch, roll and yaw attitude off 
Quadcopter are shown in Figure 3.5, 3.6 and 3.7. 

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