Quadcopter Flight Control System (Arduino + Python + Webots)

A complete quadcopter UAV project featuring an Arduino Nano flight controller, Python-based supervisory control, and Webots simulation for validation.

This project demonstrates embedded systems development, control theory, robotics simulation, and software�0hardware integration.

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Features

• Arduino Nano flight controller
• MPU6050 IMU-based attitude estimation
• PID stabilization (roll, pitch, yaw)
• Python serial control and GUI
• Webots simulation for validation
• Modular, extensible architecture

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System Architecture

1. Embedded Control (Arduino Nano)
2. High-Level Control (Python over serial)
3. Simulation (Webots)
4. Documentation

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Repository Structure

See /src, /simulations, and /docs.

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Running the Project

Arduino

• Upload flight_controller.ino
• Connect MPU6050 and ESCs
• Use propellers only in controlled environments

Python

pip install pyserial
python controller.py

Webots

• Open Webots
• Load quadcopter.wbt
• Run quadcopter_controller.py

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Future Improvements

• EKF-based state estimation
• Autonomous navigation
• ROS integration
• Hardware-in-the-loop simulation

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License

MIT License