The y4 copter is intended to be a UAV (Unmanned Aerial Vehicle) with autonomous subsystems. Automation is implemented in case of maintaining the desired roll, pitch and yaw. An improved algorithm that uses Quaternion is implemented to determine Euler angles avoiding Gimbal lock. It has a self-stabilization system achieved using Proportional Integral Derivative (PID) control system. A custom remote is built to communicate with the y4 copter using XBee modules which offer long range and security. Secured data transmission between the controller and the copter makes it suitable for military applications. Perhaps the most significant purpose of this y4 copter is to exercise a low cost and efficient engineering design with total automation considering all possible aerodynamics which is intended to be the first y4 copter built in the Indian subcontinent.
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