Quadcopter : Basic of Quadcopter, Intermediate Integration of Flight Controller and Flight Test

The basic of a quadcopter involves 
a. Disassembly
b. Assembly
c. Integration
d. Testing (Stabilize, Loiter, RTL) 

Day 1: Disassembly and Assembly of Quadcopter 

The figure below shows the quadcopter before the disassembly process

The figure below shows the components of quadcopter

From top left to bottom right
1. Primary Base 

2. Motors with propellers
3. Frames
4. Secondary Base 
5. Receiver
6. Jumper wires
7. Flight Controller
8. Screws
9. GPS 
10. Electronic Speed Controllers (ESC)
11. Battery (not on picture)

Due to shortcircuit the the port for battery terminals is shared with neighboring ESC

Day 2: Integration

The ESC is calibrated using the same method used with fixed-wing 
How to Calibrate ESC. 

Steps from The Basic Drone Technology and Drone Engineering module were followed to integrate the Flight Controller and GPS using Mission Planner and to set up FailSafe. The steps are similar to the Fixed wing, with the only exception of installing the Arducopter Quad firmware . Mission Planner Version 1. 3.60 was used.  

The figure below shows the complete integration of the Quadcopter 

Notice the two different types of propeller. Understanding this characteristics will help in determining the thrust

The diagram below shows the mechanics of motor rotation of the quadcopter. 

The thrust was calibrated by keeping the mechanics of motor rotation in mind. The calibration of thrust is the same as to fixed wing. 
How to Calibrate Thrust

After calibrating the thrust, using the ratchet, tighten the propeller knob. 

Flight modes for quadcopter differs slightly from fixed-wing
1. Stabalize - Manual control with stabilized assistance from FC of pitch, roll, and throttle
2. Loiter - Quadcopter maintain altitude
3. RTL - Quadcopter return to launch 

Ensure that the Transmitter and Receiver are bind
How to Bind Transmitter to Receiver

Note that the Mode 2 transmitter (Remote control ) is used for quadcopter. The diagram below shows the differences between the modes.
Credits oscarliang.com

Day 3: Test Flight 

The test flight was successful with the testing of Stabilize, Loiter and RTL

Thanking  Encik Amir for guiding me in learning to set up the Quadcopter. 

Day 4 : Flight Test
The Day 4 of Flight Test is similar to Day 3 , except this time I was in control

Day 5 : Flight Test
Day 5 of Flight test concludes with integration of waypoints. 

How to set waypoints
1. Check hdop and sats (satellites)
hdop values must be below 1.0
(As sats incrwase, hdop decrease)
2.Go to Flight Plan
Check home location. Locate home location and make sure it is cleared from any trees
3. Check flight modes
a. Auto
b. Loiter
c. RTL
4. Go to Flight Plan
a. Click "Add Below" for take off. Set altitude
b. Click anywhere on map to set waypoints. Set and check altitude.
5. Click "Add Below" . Select command - "Land"
Set "Land" altitude to 0
6. Click "Write WPs".And to double confirm "Read WPs"
7. At trasmitter , set to "Loiter" mode and Arm.
Then change to "Auto" and increase throttle to half
After landing, decrease throttle to 0
8. To make quadcopter stop , increase "Delay"