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User guide 24 User Guide for Multicopter Design Tao Du taodu csail mit edu Adriana Schulz aschulz csail mit edu Bo Zhu boolzhu csail mit edu MIT Computer Science and Arti ?cial Intelligence Laboratory Contents Introduction Problem De ?nition Inputs and Ou

User Guide for Multicopter Design Tao Du taodu csail mit edu Adriana Schulz aschulz csail mit edu Bo Zhu boolzhu csail mit edu MIT Computer Science and Arti ?cial Intelligence Laboratory Contents Introduction Problem De ?nition Inputs and Outputs An Example Basic Information Design Panel Simulation Flight Status Installation Prerequisites Build on Windows Get the Source Code from GitHub Download Libraries Generate the Build Solution Build and Test Build on Linux Install OpenGL libraries Get the Source Code from GitHub Download Libraries Generate Make ?le Build and Test Build on macOS Get the Source Code from GitHub Download Libraries Generate Make ?le Build and Test C User Interface Copter Property Window IMU Status Window Propeller Data Window Battery Status Window Design Panel Window Full Parameters Reduced Parameters Simulation Keyboard Shortcuts Mouse Operations File Format Basic Structure D Transforms Add Plates Add Batteries Add Electronic Devices Add Tubes Add Connectors Add Propellers Add Motors Acknowledgment C Introduction This project is about developing a design simulation and optimization tool for casual users to build their own multicopters Initially it was a research project led by the Computational Fabrication Group at MIT CSAIL in After we published a paper we got inquiries from many di ?erent sources so we decided to release our source code for the bene ?ts of both the research and hobbyist communities For those who have read that paper please note that the code here only covers a subset of our implementation in the paper as we are still in the middle of cleaning it up We expect to release all features in the next version Problem De ?nition Suppose you are a drone hobbyist who wants to have more fun in building your own copters Below is a list of questions you might want to ask yourself before you start ? What components to use This includes choosing the right material to build the frame carbon ?ber wood plastic etc picking the proper motors and propellers selecting a good battery and many more ? How to assemble them You may want to follow standard designs like a quadcopter or try some fancy con ?gurations like a tricopter or even come up with your own unique con ?guration like the bunny-shaped example in our paper ? How to control its ight Normally you can ?nd a mature controller design for classic quadcopters which is typically a multi-layer PID controller for example If you want to have more degrees of freedom in our design you probably need to develop your own controllers or at least spend some time modifying and tweaking an existing controller from similar models ? How to verify the design Crashing a real drone is a huge pain and loss both psychologically and ?nancially This is why people turn to software simulation for help Ideally it should verify both the geometry and controller accurately and it should be embedded in the design loop to allow for interactive changes Obviously this is a very involved process requiring a