Development of a Programmable System on Chip(Psoc) based Quadcopter

Notice of Violation of IEEE Publication Principles

“Development of a Programmable System on Chip(Psoc) based Quadcopter”
by Alakananda BG, Venugopal N
in the Proceedings of the Fourth International Conference on Trends in Electronics and Informatics (ICOEI), 2020

After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE’s Publication Principles.

This paper is a duplication of the original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.

Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article:

“Linear Modelling and Altitude Stabilization of Quadcopter in Hover Mode”
by Apurva Sitesh Singh
in the Masters degree from Birla Institute of Technology, Mesra, May 2019


Aerial robotics is an area of rapidly growing research mainly because of the optimality and versatility of vertical take-off and landing (VTOL) vehicles such as quadcopters. Quadcopters can easily be termed as the most complicated unmanned aerial vehicles (UAVs) to be ever designed. The most common type of control technique that is used in most of the literature available is PID control technique. State feedback technique is an area which is less explored for designing a controller for quadcopters. The MCU architecture that is being used to implement the controller digitally is PSoC6. PSOC 6 has a dual core processor, and hence it is capable of data sampling and processing at the same time. PSOC 6 also being very power efficient, it will increase battery life or flight time. Since it has been planned to use Bluetooth Low Energy (BLE) technology for communication between the quad copter and the remote control, the energy consumption is reduced furthermore. This project focuses on implementation of Quadcopter which is capable of self-sustained flight via BLE using PSOC6 BLE Microcontroller with BLE version 5.0.The system consists of MPU9250 IMU (Inertial Measurement Unit) which consists of an accelerometer, gyroscope and a magnetometer to determine the system orientation and speed control of four Coreless Brushed motors to enable the quadcopter fly in all 6 directions. The accelerometer and the gyroscope components use SPI interface to send the amount of acceleration, stabilization and the direction vector to the microcontroller. Pitch, roll and yaw values are obtained, and a suitable controller is designed to stabilize the system response. A joystick controller is used for sending control signals to the quadcopter via BLE. The working and performance of the quadcopter is tested, and desired outputs are obtained