UPGRADE OF A MEDICAL SUPPLY DELIVERY UAV.

BY

OLANIRAN TIMOTHY.D AFIT/ND/AET/022/024

ABDULLAHI TAOFIK.A AFIT/ND/AET/022/015

OSEMEKE SHEDRACH.E AFIT/ND/AET/022/045

DODO ABDULLAHI.I AFIT /ND/AET/022/007

NAZIRU AHMED. AFIT/ND/AET/022/053

AIRCRAFT ENGRINEERING TECHNOLOGY DEPARTMENT

FACULTY OF AIR ENGINEERING

AIRFORCE INSTITUTE OF TECHNOLGY

KADUNA.

JANURY, 2025

ABSTRACT
The project is initiated to design and build a drone in other to obtain a stable flight for
delivery purpose such as medical purpose for the case that may arise in the nearest
future. A drone is a multi-rotor unmanned aerial vehicle that is lifted and propelled by six
electrical motors. It is capable of flight without an on-board pilot.
Technological advancement has condensed the cost and increase the enactment of the
low power micro controllers that allows the general public to develop their own Drone
hexacopters.
The major components used for this project includes 6 propellers, battery, 6 ESC
(electric speed controller), 6 rotors, transmitter and a receiver. Individual mechanisms
were tested and verified to work properly. Currently, the drone can properly stabilize
itself. Most of the goals in this project have been achieved, resulting in a stable and
maneuverable drone hexacopter.

DECLARATION
We hereby declare that the project titled “upgrade of a medical supply delivery UAV”
which is submitted by us to Aircraft Engineering Technology Department, School of
Engineering, Air Force Institute of Technology, Kaduna, in partial fulfillment of the
requirements for the award of National Diploma in Aircraft Engineering Technology, has
not been previously formed the basis for the award of any Higher National Diploma,
Diploma or other similar title or recognition.

OLANIRAN TIMOTHY .D
……………..............................
(ND/AET/022/024) Signature/Date
ABDULLAHI TAOFIK .A
………………………………….
(ND/AET/022/015)
Signature/Date
OSEMEKE SHEDRACH .E
………………………………….
(ND/AET/022/045) Signature/Date
DODO ABDULLAHI .I
………………………………….
(ND/AET/022/007)
Signature/Date
NAZIRU AHMED .N
………………………………….
(ND/AET/022/053)
Signature/Date
 CERTIFICATION
On the basis of declaration submitted by OLANIRAN TIMOTHY DAMILARE,
ABDULLAHI TAOFIK AYOMIDE, OSEMEKE SHEDRACH EBUBE, DODO ABDULLAHI
IBRAHIM, NAZIRU AHMED NURU. Students of Aircraft Engineering Technology, we
hereby certify that the project titled “Upgrade of a Medical Supply Delivery UAV“which is
submitted to Aircraft Engineering Technology Department (AETD), Air Force institute Of
Technology, Kaduna, in partial fulfilment of the requirement for the award of National
Diploma in Aircraft Engineering Technology, is an original contribution with existing
knowledge and faithful record of work carried out by them under guidance and
supervision.
To the best of our knowledge, this work has not been submitted in part or full for any
National Diploma to this institute or elsewhere.

ENGR. DISU ……………………….

(Project supervisor) Signature/ Date
 APPROVAL
This project work titled “Upgrade of a Medical Supply Delivery UAV“ by OLANIRAN
TIMOTHY DAMILARE, ABDULLAHI TAOFIK AYOMIDE, OSEMEKE SHEDRACH
EBUBE, DODO ABDULLAHI IBRAHIM, NAZIRU AHMED NURU has partially fulfilled
the requirement for the award of National Diploma (ND) in Aircraft Engineering
Technology in the Department of Aircraft Engineering Technology of the Air Force
institute Of Technology, Kaduna, and is Hereby approved.

ENGR DISU …………………………

(Project Supervisor) Signature/ Date

MR LWAHAS NANDOM ……………………………

(Project Coordinator) Signature/ Date

SQN LDR YI HARUNA …………………………

(HOD, AETD) Signature/ Date

GP CAPT G. ISA ………………………

(Dean, Faculty of Engineering) Signature/ Date

 DEDICATION
We dedicate this research project to Almighty God who spares our lives and gave us
the knowledge, wisdom, strength and ability to carry out this project and successfully
completed.
 ACKNOWLEDGEMENT

Firstly, we would like to Thank God Almighty for this provision, Knowledge, strength,
ability and opportunity to undertake this research study and to complete it satisfactorily.
Without His blessings, this achievement would not be possible.

We would also like to express our sincere gratitude to our supervisor, ENGR DISU for
his supervision and support in making this possible. We are greatly indebted to him.

We would also like to use this opportunity to thank our lecturers in the Aircraft
Engineering Technology Department (AETD) for a good job done in impacting a great
deal of knowledge in us. Without them we would not be the person we are today.

Our parents deserve our endless thanks for their investment, advice, patience, support
and contribution to the success of this work. The education we have is thanks to them.

Finally, we would like to thank our guardians, mentors, friends and gamy members who
helped us to finalize this project within the limited timeframe.
 TABLE OF CONTENTS
Title Page i

Abstract ii

Declaration iii

Certification iv

Approval v

Dedication vi

Acknowledgement vii

Table of content viii

List of figures ix

List of tables x
CHAPTER ONE

INTRODUCTION

1.1 BACKGROUND OF STUDY

1.2 STATEMENT OF THE PROBLEM

1.3 AIM

1.4 OBJECTIVES

1.5 PURPOSE OF PROJECT

1.5 SIGNIFICANCE OF PROJECT

1.6 SCOPE AND LIMITATION OF THE PROJECT

1.6.1 Scope of UAV Drone

1.6.2 Limitation of UAV Drone

CHAPTER TWO

INTRODUCTION

2.1 PRINCIPLE OF HEXACOPTER DRONE

2.2 LITERATURE REVIEW

2.3 IDENTICATION OF GAP IN THE LITERATURE

2.4 CONCEPTUAL FRAME WORK

2.5 THEORITICAL BACKGROUND

2.6 COMPONENTS OF THE UAV HEXACOPTER DRONE

CHAPTER THREE

3.1 RESEARCH METHODOLOGY

3.2 DESIGN SPECIFICATION

3.2.1 Hardware Design

3.2.2 The Hexacopter drone body (Frame)

3.2.3 A Flight Controller

3.2.4 A Motor

3.2.5 The Electronic Speed Controller

3.2.6 The propellers

3.2.7 The Battery

3.2.8 Radio Transmitter and Receiver

3.2.9 Radio Transmitter (controller)

3.2.10 Radio Receiver

3.2.11 The Camera

3.3 Discuss General System Operations

3.4 Bill of ENGINEERING

3.5 Research Time Line

3.6 UPGRADE

3.6.1 Hardware Analysis

CHAPTER FOUR
INTRODUCTION

4.1 TESTS MEASURING AND RESULTS

4.2 TEST Results

4.2.1 Battery/Motor and Compatibility test

4.2.2 Battery Lifetime test and result

4.2.3 Flight test

4.3 Problem and Difficulties Faced

4.3.1 Arming the Motors

4.3.2 Safety precautions during test

4.4 Test Summary

CHAPTER FIVE

5.1 SUMMARY

5.2 CONCLUSION

5.3 REFRENCE
 LIST OF FIGURES
Fig 3.0: S550 Hexacopter Drone Frame with carbon fiber

Fig 3.1: Autopilot Flight controller

Fig 3.2: SUNNYSKY ANGEL KV800 MOTORS

Fig 3.3: Electronic Speed Controller

Fig 3.4: 1050 Propellers

Fig 3.5: Battery 5200mAh LI-Po

Fig 3.6: Radio transmitter and Receiver

Fig 3.7: Radio Transmitter (controller)

Fig 3.8: Radio Receiver

Fig 3.9: Drone Camera

 LIST OF TABLES
Table 3.1: The specifications for the Drone Hexacopter design

Table 3.2 : The specification for the hexacopter body(frame)

Table 3.3: List of the Components with their Respective Weight Estimations

Table 3.4: Readytosky 2212 920kv Brushless AC Motor and Specifications

Table 3.4.1: Bill of Engineering

Table 3.5: Research Timeline

Table 4.0: Hexacopter drone test and result

 CHAPTER ONE
INTRODUCTION
A delivery Hexacopter Drone is design and built to provide delivery of medical
packages such as drugs and other first aid medical equipment over challenging terrains
with minimal human intervention. A Hexacopter Drone is a simple flying mechanism also
known as a Hexarotor. It is an unmanned Aerial Vehicle (UAV) with a multi rotor that is
lifted and propelled by six electrical motors capable of flight without an on-board Pilot.
This UAV has six arms with each having a motor that is attached to the arms with a
propeller mounted on each motor, which are set in a X configuration. In the Hexacopter,
three of the rotors turn clockwise, while the other three turns anticlockwise. Unlike other
Aerial Vehicle, a Hexacopter Drone is easier to construct and maintain due to its cyclic
design. As the technology becomes more advance, many engineers and researchers
have started designing and implementing Hexacopter Drone for different uses. This
drones are used for delivery Aerial surveillance and reconnaissance by the military and
other law enforcement agencies, as well as search and rescue mission in urban
environments. Drone is been used to deliver details of the building status from an aerial
view, in 3D modeling. It is also used by construction workers when working on tall
buildings like bridges for quality and efficiency reviews.

1.1 STATEMENT OF RESEARCH PROBLEM

The rapid growth of unmanned aerial vehicle (UAV) technology has led to
increased demand for high-quality aerial imaging and data collection. However, existing
hexacopter drones often face limitations in terms of payload capacity, stability, and flight
duration. Specifically,
Therefore, there is a need to upgrade the existing hexacopter drone to support a higher
and additional payload for long duration and distance . This limitation hinders its
potential
The current hexacopter drone has a limited payload capacity, restricting its ability to
carry
Applications in fields such as aerial photography, surveying, and medical supplies
delivery Payload capacity, ensuring stable and efficient flight.

1.2 AIM
The primary aim of this project is to upgrade the existing medical supply hexacopter
drone to support a higher payload capacity, specifically to accommodate an advanced
camera system and medical supplies . The upgraded drone should be capable of stable
and efficient flight, with a takeoff weight of 1kg, up from the original 700g.

1.3 OBJECTIVES
The objectives of this project are to:

i. Design and implement the necessary modifications to the existing hexacopter

drone to support a higher payload capacity.
ii. Select and integrate suitable components, including motors, propellers, and
electronic speed controllers (ESCs), to ensure stable and efficient flight.
iii. Develop a camera mount and vibration isolation system to minimize camera shake
and ensure high-quality aerial imaging.
iv. Conduct thorough testing and evaluation of the upgraded drone to ensure its
performance, stability, and safety meet the required standards.
v. Achieve a takeoff weight of 1kg, with the upgraded drone capable of carrying an
advanced camera system.

1.4 PURPOSE OF STUDY

 The purpose of this study is to investigate the feasibility of upgrading an existing
hexacopter drone to support a higher payload capacity, while maintaining stable and
efficient flight. This research aims to contribute to the development of more advanced
and capable UAV systems, which can be applied in various fields such as aerial
photography, surveying, and medical supply delivery Specifically, this study seeks to:

i. Identify the key components and design considerations necessary for a successful
upgrade
ii. Develop a systematic approach to upgrading the drone's payload capacity
iii. Evaluate the performance and stability of the upgraded drone
iv. Provide recommendations for future improvements and developments

1.5 SIGNIFICANCE OF STUDY

This study is significant for several reasons:
i. Deliveries of a medical supply such as first aid box .
ii. Advancements in UAV Technology: The upgrade of the hexacopter drone will
contribute to the development of more advanced and capable UAV systems.
iii. Improved Aerial Imaging: The integration of an advanced camera system will
enable high-quality aerial imaging, benefiting applications such as aerial
photography, surveying, and environmental monitoring.
iv. Increased Payload Capacity: The successful upgrade of the drone's payload
capacity will expand its potential applications, including carrying heavier sensors
or payloads.
v. Enhanced Safety and Efficiency: The study's focus on stable and efficient flight will
contribute to improved safety and reduced operational costs.
vi. Knowledge Sharing: The research findings will provide valuable insights and
recommendations for future UAV upgrades and developments.
1.6 SCOPE AND LIMITATIONS
1.6.1 Scope of UAV Drones
Applications Across Industries:
i. Military and Defense: Surveillance, reconnaissance, and combat operations.
ii. Agriculture Services: Package delivery for e-commerce, medical supplies, and
food
iii. Environmental Monitoring: Wildlife tracking, climate observation, and disaster
response.
iv. Construction and Infrastructure: Site mapping, inspections, and project monitoring.
v. Media and Entertainment: Aerial photography, filmmaking, and live event
coverage.
vi. Public Safety: Search and rescue operations, fire monitoring, and law
enforcement.

2. Technological Advancements:
i. Improved sensors for mapping and data collection.
ii. Autonomous flight using AI and machine learning.
iii. Long-range communication and GPS integration.
iv. Payload customization for specific tasks.

3. Cost-Effectiveness:
UAVs can perform tasks faster and at a lower cost compared to traditional methods,
especially in hard-to-reach or hazardous areas.

4. Regulatory Development:
Growing interest in commercial drone usage has led to the development of aviation
regulations, enabling safer integration into airspace.
1.6.2 Limitations of UAV Drones
1. Technical Challenges:
i. Battery Life and Range: Limited endurance due to battery constraints, reducing
operational time and distance.
ii. Payload Capacity: Most drones can only carry lightweight equipment, restricting
their usage.
iii. Weather Sensitivity: Susceptible to wind, rain, and extreme temperatures, which
can affect performance.
iv. Navigation Issues: GPS-dependence can lead to challenges in areas with weak or
no signals.

2. Regulatory and Legal Barriers:

i. Airspace restrictions and no-fly zones.
ii. Privacy concerns and liability for accidents or misuse.
iii. Licensing and registration requirements for operators.

3. Operational Risks:
i. Collisions with obstacles, other drones, or aircraft.
ii. Vulnerability to hacking or signal interference.
iii. Reliability issues during critical missions.

4. Ethical Concerns:
i. Use in military operations raises questions about accountability and civilian harm.
ii. Surveillance capabilities can lead to breaches of privacy.

5. Economic Constraints:
i. High initial investment for advanced models.
ii. Maintenance costs and need for specialized operators.
 CHAPTER TWO

2.0 INTRODUCTION

A hexacopter is a type of Unmanned Aerial Vehicle (UAV) that is equipped with six
rotors. These drones are known for their stability and lifting capacity, making them
suitable for various applications such as aerial photography, surveillance, agriculture,
and search and rescue operations2. Hexacopters can be controlled remotely or
autonomously using GPS navigation and other sensors.

2.1 PRINCIPLE OF HEXACOPTER DRONE

In a drone hexacopter, the six motors are place at the edges of the frame. The
direction of the rotation of each motor is such that the torque generated by each of the
motor cancels out. The adjacent motor rotate in the reverse direction why the opposing
motors rotate in the same direction [Moussid,2021]. In other for the hexacopter to hover
in place, it is necessary to ensure all the motors rotates at the same RPM which must be
sufficient enough to generate a ‘lift’ balancing its own weight and the torque due to all
four motors must be cancel out so that the Drone Hexacopter don’t yaw in certain
direction. In other to gain the altitude, all six of the motor of the drone hexacopter must
increase the speed of rotation simultaneously and similarly to descend down, the speed
of all six motors must be decreased simultaneously. The flight controller is the brain of
the Drone. This broad is placed at the center and responsible for controlling the firmware
within the ESCs and consequently control the speed of the motors. The hexacopter
cannot function accurately and efficiently without the use of external sensors added with
the flight controller. [Christian 2020] Propellers converts the rotational motion into thrust
and its working principle is based on Bernoulli’s principle and Newton’s third law of
motion. In the Hexacopter, the total six propeller are used out of which three moves in
the clockwise direction why three moves in the anticlockwise direction. Each propeller
has a variable and independent speed which allows a full range of movement.

2.2 LITERATURE REVIEW

Drone research has grown significantly in recent years. Robots that can fly through
the air to complete a variety of activities are referred to as drones. Unmanned Aerial
Vehicles (UAVs) and small drones that can only fly in specific constrained regions are
both considered drones. For both simple and sophisticated jobs, drones are becoming
the most common choice.

Companies are developing more affordable and practical drones that can help in a
variety of industries and fields, including surveillance, military operations, agriculture,
geological mapping, inspections, picking and arranging goods in factories, delivering
products, etc. Drones can be categorized depending on their size, on their features, or
on the tasks they are capable of carrying out.
Drones are categorized as MAVs (micro or miniature air vehicles), NAVs (nano air
vehicles), VTOLs (vertical takeoff and landing), LASEs (low altitude short endurance),
and HASEs (high altitude long endurance) depending on the activity (high altitude short
endurance). The fundamental prerequisites for improving a drone's efficiency include
having the right engine, the right electronic stability controller, and the right-sized
propellers. For safety control and flight, a hexacopter includes six rotors and associated
propellers that are spaced 60 degrees apart from one another. The remaining motors
take on the additional strain of a failing motor in order to maintain overall efficiency and
flying time, but we must make a compromise with the added weight and cost.

A work on the modeling of a hexacopter was presented by V. Artale. The hexacopter

was thoroughly discussed in the study, along with the reasons why multi-copters with
more than four rotors are becoming popular. The Newton-Euler and Euler Lagrange
equations were used to create a mathematical model, and Quaternion were used to
prevent singularities. Quaternions were utilized in consideration of their formulation's
stability and 10 linearity. In his study, Jeroen A.J. Ligthart discussed the modeling and
controls of a hexacopter (Ligthart, 2020). A controller was created using the Model
Predictive Controller after mathematical modeling (MPC). In order to compare the
drone's performance indoors and outdoors, a three-term MPC cost function was applied.
Theoretical analysis and experimental validation, however, were not finished.

In a work presented by Moussid (Artale, 2023), the Newton-Euler method was used to
model the hexa rotor in great detail. The findings of a comparison between a linear and
non-linear controller developed utilizing the PID controller design and the Backstepping
and Sliding Mode (SMC) design revealed that the non-linear controller produced results
that were on average. A mathematical model and a linear PID controller for a hexacopter
were created and tested.

In a study by Andrea Alaimo. The hexacopter model was created using the Newton-
Euler method (Morales, 2020). The controller algorithm's stability and effectiveness were
enhanced by the introduction of quaternions. During a series of trials in which the drone
was kept in motion, the model and algorithm were evaluated and the model was
validated to note the elementary rajectories.
A mathematical model was developed utilizing force and torque as control variables in a
study by Diana Ovalle. A nonlinear optimum control issue was also designed to examine
the hexacopter's maneuverability, which clearly demonstrated the challenges in moving
the x and y axes due to the absence of actuators on those axes.
In a paper that Guillermo P. Falconi presented, a position control for a hexacopter was
created. The intent of the additional controller was to reject the modeling inaccuracy
(Guillermo, 2022).
The most typical strategy is to use the Failure Detection and Isolation (FDI) filter and
then reconfigure the controller, but the FDI is very complex for the hexacopter, so
Modified Linear Extended State Observer (LESO), which does not use the strategy of
failure detection or reconfiguration, was used with the controller. Although the flight was
safe thanks to the controller, there is certainly room for improvement in terms of flight
performance.
O. A. Ahmed presented a work based on the visual serving controller for a hexacopter
and modeling that used pitching torque to generate translation motion that could move
the hexacopter in both the forward and backward directions (Ahmed, 2021).
Moreover, the lateral motion was accomplished by applying the necessary rolling torque
dependent on the rolling angle, which could move the hexacopter in either a left- or a
right directional motion. The hexacopter's speed was controlled using a PD controller
with several gains in order to attain the desired height and heading.

2.3 IDENTIFICATION OF GAP IN THE LITERATURE

Identifying gaps in a hexacopter UAV (unmanned aerial vehicle) design, operation,

or technology involves examining current challenges, limitations, and opportunities for
improvement. These gaps can exist in various domains, including hardware, software,
applications, and regulatory aspects. Below are some key areas where gaps may be
identified:

2.3.1 Hardware and Designs

i. Battery Life and Power Efficiency: Limited flight time due to inadequate battery
capacity and power optimization.
ii. Payload Capacity: Insufficient ability to carry heavier or multiple payloads without
sacrificing performance.
iii. Material Limitations: Lack of lightweight, durable, and cost-effective materials for
frames and components.
iv. Weather Resistance: Inability to operate reliably under adverse weather conditions
such as rain, wind, or extreme temperatures.
v. Redundancy Systems: Limited fail-safe mechanisms to handle motor or propeller
failure in critical missions.

2.3.2 Software and Navigation

i. Autonomous Navigation: Gaps in robust obstacle avoidance, real-time path

planning, and GPS-independent navigation in areas with weak signals.
ii. Sensor Fusion: Inefficient integration of data from multiple sensors (e.g., LiDAR,
cameras, and IMUs) for precise navigation and stability.
iii. AI and Machine Learning: Limited use of AI for predictive maintenance, real-time
decision-making, and mission optimization.
iv. User Interfaces: Lack of intuitive interfaces for operators, especially for non-
technical users.

2.3.3 Applications and Use Cases

i. Limited Versatility: Inability to adapt to diverse applications such as industrial

inspection, agriculture, and delivery services without significant customizations
ii. Payload-Specific Adaptation: Gaps in modular payload systems to switch between
different types of sensors or equipment.
iii. Regulatory Constraints: Difficulty in meeting evolving compliance standards for
commercial applications, such as beyond-visual-line-of-sight (BVLOS) operations.

2.3.4 Safety and Reliability

i. Collision Avoidance: Ineffective or unreliable systems for detecting and avoiding

dynamic obstacles.
ii. Failsafe Mechanisms: Lack of reliable return-to-home or emergency landing
systems in case of critical failures.
iii. Signal Interference: Vulnerability to signal jamming or interference affecting
communication and navigation.

2.3.5 Regulatory and Ethical Considerations

i. Air Traffic Integration: Limited integration with existing air traffic management
systems for urban airspaces.
ii. Data Privacy: Gaps in ensuring privacy while using drones for surveillance or data
collection.
iii. Public Perception: Concerns about noise, safety, and intrusion into personal
spaces.

2.4 CONCEPTUAL FRAMEWORK

The conceptual framework of a UAV hexacopter drone focuses on its unique six-
rotor design, providing stability, payload capacity, and redundancy. Key elements
include:

2.4.1 Core Components:

i. Airframe: Lightweight hexagonal design for stability and maneuverability.

ii. Propulsion: Six motors and propellers for better lift, reliability, and redundancy.
iii. Power Supply: High-capacity batteries or alternative energy sources for extended
flight.
iv. Communication: Remote control and telemetry systems for real-time data
transmission.
v. Navigation: GPS, IMU, and sensors for precise flight control.
vi. Payload: Cameras, sensors, or custom equipment based on the mission.

2.4.2 Software and Algorithms:

i. Flight Control: Stabilization and autonomous operation algorithms.

ii. Mission Planning: Pre-defined routes, geofencing, and real-time adjustments.
iii. Data Processing: Onboard or cloud-based analytics for collected data.

2.4.3 Operational Framework:

i. Command and Control: Ground control stations or mobile interfaces.

ii. Safety: Collision avoidance, return-to-home, and redundancy (can fly with one
motor failure).
iii. Regulatory Compliance: Adherence to altitude, no-fly zones, and BVLOS rules.

2.4.4 Applications:

i. Commercial: Precision agriculture, delivery, aerial photography.

ii. Industrial: Inspection of infrastructure and surveying.
iii. Emergency Services: Search and rescue, disaster response.

2.4.5 Challenges:

i. Limited flight time, weather sensitivity, data security, and compliance with
regulations.
ii. This framework ensures the effective design and use of hexacopter drones for
reliable and versatile applications.

2.5 THEORITICAL BACKGROUND

The study and research on Unmanned Aerial Vehicles UAVs) are growing
rapidly. UAVs have become a common source of capture information from various fields
like Military operations, Sports, Weather, Traffic, Search, and Rescue and many more.

During the early stages the research was limited to four rotor copters known as the
Quadcopters but now researchers have increased their vision to Hexacopters and
Octocopters because they have various advantages over the Quadcopters. For
example, Hexacopters show more flight time, they have better fault tolerance capacity
compared to a Quadcopter, they can carry more load compared to a Quadcopter.
Furthermore, the use of more than one motor decreases the length of the blades leading
to less dynamical and structural problems. UAVs even enjoy various advantages over
the land robots like they are excellent for the surveillance purpose, they can be used for
search and rescue operations, drones can also be used to spray chemicals on an
agricultural field, they can modulate distance from the ground and can spray in real time
for an even coverage Increasing the overall efficiency of the field. A hexacopter is
basically a 6-rotor helicopter. Its thrust or upward force is provided by the 6 rotors
equally and other movements can be controlled by varying the speed of the motors.

Drones can also be used for aerial photography search and rescue operations, 3D
mapping, pipe inspections, for delivering packages.

2.6 COMPONENTS OF THE UAV HEXACOPTER DRONE

COMPONENTS:

i. The Frame
ii. The Flight Controller
iii. The Motors
iv. The ESCs (Electronic Speed Controller)
v. The Propellers
vi. The Battery
vii. Radio Transmitter (control)
viii. Radio Receiver
ix. The Camera
 Schematic diagram of principle of operation of Hexacopter Drone

The Diagram above illustrate how a Drone Hexacopter hovers and flies in any direction,
lift or descend at a moment of touch on the remote controller stick. It is the propeller
direction along with the Drone Hexacopter motor rotation and speed, which make its
flight and maneuverability possible (Moussid 2021). The Drone hexacopter flight
controller sends information to the motors via their Electronic Speed Control Circuit
(ESC) information on thrust, RPM, and direction. The controllers signal the motor on
thrust and rotor speed. It is also important to consider the force principal forces (weight,
lift, thrust and drag) affecting flight and aerodynamics used for propeller design and the
movement of air above, below and around the hexacopter.
 CHAPTER THREE
3.1 RESEARCH METHODOLOGY
The concept of how Drone Hexacopters operate is fairly simple, but implementing
each subsystem requires quite a bit attention in other for the Aircraft to function properly.
In this chapter, we are getting in a detail of the step-by-step process of designing the
Drone, implementation of the complex electronics devices and their behavior using the
initial design. Based on the knowledge of the three of design process and simulation,
which include: conceptual design phase, preliminary design phase and detail design
phase.
3.2 DESIGN SPECIFICATION
The Unmanned Aerial Vehicle (UAV) is required to meet a special mission
requirement of delivery of medical packages and to successfully construct and
implement a remote radio-controlled Drone Hexacopter system that can take off, be
stable in the air, maneuver and land successful with the aid of a radio transceiver hence
the specification for the design started with highlighting the structural and performance
requirement of the drone Hexacopter followed by conceptual sketch of the airframe. The
specification of the Drone Hexacopter is listed in the list below.

SN PARAMETER VALUE
1 Lifting Thrust 5.95g/W
 2 Maximum take-off weight 1.5kg
3 Gross weight 900g
4 Battery 11.1v (3 cell)
5 Frequency of control signals 2.4GHz
6 Visibility 500ft
Table 3.1: The specifications for the Drone Hexacopter design

The distinct components used in building of the Drone Hexacopter as being categorized
into hardware and software components.

3.2:1 Hardware Design

To build such a dynamic UAV, We need to attach many complex and intelligent
electronic devices. The following factors were put into consideration during design of the
components of the Drone Hexacopter.
3.2:2 The Hexacopter drone body (frame:)
This is a well thought out hexa-frame built from quality materials. The main frame is
glass fiber while the arms are constructed from ultra-durable polyamide nylon. The body
of the Hexacopter is divided into two parts: Body frame and landing gear. The body
frame was made flat with holes drilled into it to maintain stability while flying and to
reduce the weight of the overall material. The landing gear was made to have a lower
center of gravity for stability when landing the Hexacopter Drone.

Features of a Hexacopter drone body (frame)

i. Built from quality glass fiber and polyamide nylon.

ii. Integrated PCB connections for direct soldering of your printed circuit board
electronic speed controller ESCs.
iii. Pre-threaded brass sleeves for all of the frame bolts.
iv. Colored arms for orientation to keep flying in the right direction.
v. Large mounting tabs on main frame bottom plate for easy camera mounting.
vi. Easy assembly.
 S/N PARAMETER VALUE
1 Brand Robodoc
2 Material Carbon Fiber
3 Model Name/Number S550
4 Dimension 450mm
5 Size (Variant) Q450 & Q550
6 Height 55mm
7 Weight 270g(w/out electronics)
8 Motor Mount Bolt Holes 16/19mm
Table 3.2 : The specification for the hexacopter body(frame)

Fig 3.0: S550 Hexacopter Drone Frame with carbon fiber

3.2.3 A Flight Controller

This is the central component of a drone's onboard electronics system that

manages and controls its flight. It processes data from various sensors, interprets pilot
commands (if remotely controlled), and adjusts the motors and actuators to ensure
stable and responsive operation. The flight controller is essentially the "brain" of the
UAV.

Key Functions of a UAV Flight Controller:

i. Stabilization: Ensures the drone maintains stable flight by processing data from
sensors like gyroscopes and accelerometers.
ii. Navigation: Processes GPS data to manage autonomous flight paths and
positioning.
iii. Command Interpretation: Interprets pilot inputs (via a remote controller or ground
control station) and translates them into motor commands.
iv. Failsafe Mechanisms: Includes features like return-to-home (RTH) and loss-of-
signal recovery to prevent crashes.
v. Sensor Integration: Processes inputs from additional sensors like barometers,
magnetometers, and cameras.
vi. Autonomy: Supports pre-programmed missions, waypoint navigation, and obstacle
avoidance (in advanced systems).

Fig 3.1 Autopilot Flight controller

3.2.4 A Motor

Drone motor is an essential component responsible for converting electrical energy

into mechanical energy to spin the propellers, enabling the drone to fly.

This necessary because if the thrust provided by the motors were little, the UAV will not
respond well to control and will even have difficulties taking off, and if the thrust was
much, it might become to agile and hard to control. The of components with their
respective weight are tabulated in the table below.

S COMPONENTS ESTIMATED NUMBER TOTAL

/N WEIGHT OF UNIT WEIGHT
PER UNIT
1 Frame 400g 1 400g
2 Brushless AC motor 25g 6 150g
3 Propellers 25g 6 150g
4 Battery 270g 1 270g
5 Max 30A ESC 7g 6 42g
6 Power distribution board 40g 1 40g
7 Auto-pilot 2.8 25g 1 25g
8 Wireless receiver 8g 1 8g
TOTAL 1085g
Table 3.3: List of the Components with their Respective Weight Estimations

S/N COMPONENTS SPECIFICATION

1 KV 920
2 MAX THRUST 1200g
3 NO OF CELLS 3S
4 FRAME WORK 12N14P
5 PROPELLERS 10INCHES
45DEGREE
6 LENGTH 32.2mm
7 WEIGHT 25g
8 SHAFT 5mm
9 DIAMETER 28mm
 10 MAXIMUM CURRENT 35A
11 MAXIMUM VOLTAGE 10A
12 RPM 90G
Table 3.4: Readytosky 2212 920kv Brushless AC Motor and Specifications

Fig 3.2: SUNNYSKY ANGEL KV800 MOTORS

3.2.5 The Electronic Speed Controller

The ESCs control the speed of the motor on how fast it spins at a given time. It is an
electronic circuit that varies the speed, direction of the a Drone and also act as a
dynamic brake of the brushless DC motor. For a Hexacopter Drone, 6 ESCs are
needed, one connected to each motor. The ESCs are them connected to a battery
through a power Distribution Board (PDB)

Fig 3.3: Electronic Speed Controller

3.2.6 The Propellers

A propeller is a type of fan that transmit power by converting rotational motion into
radio. A pressure difference between the forward and rear surfaces of the air foil shaped
blade, and a fluid (such as air or water) is accelerated behind the blade. Propeller
dynamics can be modelled by both Bernoulli’s principle and Newton’s third law of
motion.

Fig 3.4: 1050 Propellers

3.2.7 The Battery

A battery is an energy storage device that supplies electrical power to the various
components of a system. In a hexacopter drone, the battery plays a crucial role in
powering the drone’s motors, flight control system, electronic speed controllers (ESCs),
cameras, sensors, and other onboard electronics.

Fig 3.5: Battery 5200mAh LI-Po

3.2.8 Radio Transmitter And Receiver

A radio transmitter and receiver are essential components in a hexacopter drone for
communication between the pilot and the drone.

Fig 3.6: Radio transmitter and Receiver

3.2.9 Radio Transmitter (Controller)

The radio transmitter is the handheld device (controller) used by the pilot to send
signals to the drone. It transmits control inputs, such as throttle, pitch, roll, yaw, and
additional commands like landing, take-off, or activating features like cameras.

Fig 3.7: Radio Transmitter (controller)

3.2.10 Radio Receiver:

The radio receiver is mounted on the hexacopter and receives the signals sent by
the transmitter. The receiver decodes these signals and forwards them to the flight
controller, which then adjusts the drone’s motors and other systems according to the
pilot’s inputs.

Fig 3.8: Radio Receiver

3.2.11 The Camera

A camera on a hexacopter drone is an optical device used for capturing images or

recording videos during flight. It is often mounted on a gimbal (a stabilizing device) to
ensure smooth and steady footage, regardless of the drone’s movements.
 Fig 3.9: Drone Camera

3.3 DISCUSS GENERAL SYSTEM OPERATION

A medical supply delivery UAV (Unmanned Aerial Vehicle) hexacopter is designed
to transport essential medical supplies, such as blood samples, vaccines, medications,
and emergency kits, across distances quickly and efficiently. Below is an overview of its
general system operation:
1. Mission Planning and Setup
i. Route Planning: The delivery location and path are pre-defined using GPS
coordinates in mission planning software.
ii. Payload Loading: Medical supplies are carefully packed and secured in a
payload compartment or container to prevent damage.
iii. Pre-flight Checks: The drone undergoes a safety check, including battery
status, propeller integrity, GPS connectivity, and weather conditions.
2. Takeoff
i. The drone is powered on and initialized.
ii. The system performs a final diagnostic before activating the motors.
iii. The hexacopter takes off vertically, using its six rotors for stability.
3. Navigation and Flight
i. Autonomous Flight: The UAV follows a pre-programmed flight path using GPS and
onboard navigation systems.
 ii. Obstacle Avoidance: Equipped with sensors (e.g., LiDAR, ultrasonic, or cameras),
the drone detects and avoids obstacles in real-time.
iii. Communication: The UAV communicates with a ground control station (GCS) via a
radio link or cellular network, sending telemetry data (e.g., position, speed,
altitude, and battery status).
4. Delivery; upon reaching the destination, the UAV either:
i. Hover and Drop: Releases the payload via a winch or automated release
mechanism.
ii. Land and Unload: Lands safely at the designated delivery spot, allowing
manual or automated unloading.
iii. Confirmation of delivery is sent to the control system.
5. Return to Base or Next Destination; after delivery, the UAV:
i. Returns to the launch point (home base).
ii. Proceeds to another location if required (multi-stop delivery).
iii. The return is executed with efficient battery management to ensure a safe
journey.

3.4 BILL OF ENGINEERING

S/ COMPONENTS SPECIFICATION QUANTITY TOTAL

N COST (₦)
1 Propellers 10Degre 6 28,500
50Inches (1050)
2 Camera 1 15,000

3 Battery 5200mAh 1 95,000

4 FlightController 1 15,000
(Autopilot)
Programming
Total 153,500
Table 3.4.1: Bill of Engineering
3.5 RESEARCH TIMELINE

S/N TASKS OR ACTIVITY DURATION (DAYS)

1 Field research 20
2 Raising of funds 45
3 Purchase of materials 25
4 Installation of propellers 2
5 Calibration of electronic speed 2
controller(ESC)
6 Programming of Flight controller 6
(Autopilot)
7 Ground testing 2
8 Flight test 2
Total Duration 104 days
Table 3.5: Research Timeline

3.6 UPGRADE
UAV Hexacopter drone consisting of a main body having six arms connected to the
chassis of the frame and six DC brushless motor attached to each of the arm (Debrie,
2021). It also have six propeller attached to the shaft of each motor. Six propeller with
fixed angles representing pitch to generate equivalent force at each end to lift body and
payload. All DC brushless motor are attached to electronic speed controller to control
the speed of each individual motor. All six electronic speed controller are connected
parallel to a power distribution board. A battery is used as a power source. The rotation
of the propellers are controlled by remote controller.
3.6.1 Hardware Analysis
i. Fixing of propellers
ii. Calibration of the Flight Controller(Autopilot)
iii. Calibration of ESCs
iv. Synchronization of Transmitter and Receiver
 v. Checking receiver test and calibration
vi. Fixing of the battery
vii. Fixing of the Camera
viii. Testing the Hexacopter

CHAPTER FOUR
INTRODUCTION
A UAV (Unmanned Aerial Vehicle) medical supply delivery hexacopter drone is a
specialized type of drone designed for efficient and reliable transport of medical
supplies, particularly in challenging environments. And the following are the applications:
i. Disaster Relief: Rapid delivery of critical medical supplies to disaster-affected
areas.
ii. Remote Healthcare: Supporting rural healthcare facilities with essential drugs and
diagnostic tools.
iii. Pandemic Response: Transporting vaccines and medical kits in urgent scenarios.
iv. Organ and Blood Delivery: Facilitating rapid delivery for transplant and surgical
requirements.

4.1 TESTS, MEASUREMENTS AND RESULTS

To ensure the proper function of our Drone Hexacopter, substantial test was done
on each of the components whose failure could result in undesired behavior. These test
include the implementation of software and physically testing the hardware for reliable
ranges of output. The test result were compared to the desired value, and were
validated as functioning properly.

4.2 TEST RESULTS

 In this project, four test were conducted on the Hexacopter, this test are stated as
follows:
4.2.1 Battery/motor and compatibility test
We successfully tested the performance of our batteries and motors. During the
test, we compared the thrust output to the weight of the Hexacopter and observed that
the motors need to be driven at 52% before the hexacopter will lift off the ground. The
motor draws 3.5Amp from the 1.2amp battery at a voltage of resources available. As we
suspected, the power output of the motor seems to be limited by the maximum current
draw of the battery, but not until reaching the upper-ends of their output capabilities.

S/N TESTS MEASUREMENTS RESULTS

1 Vertical thrust test To determine how much For each motor
the drone can lift. we were able to
generate a
thrust of 1200g
when supplied
with 11.1 volts.
So, by using the
six blade dc
motors we were
able to generate
a weight lifting
capacity of 7.2kg
for the
hexacopter
provided the
battery is fully
charged.
2 Flight maneuver To determine the After flying the
test stability, operating range drone, the drone
and battery life of the stability was
 drone. good, it has an
operating range
of 2.5Km and it
lasted for 5min.
3 Airframe To determine how well After subjecting
aerodynamics test the drone moves the drone to a
through air. number of
maneuvered In
air, The drone
movement in air
was good.
4 Payload drop test To determine if the During flying of
payload drop the drone the
mechanism works well. dropping
mechanism
works well.
Table 4.0: Hexacopter drone test and result

4.2.2 Battery lifetime test and result

When testing the lifetime of the battery, we used 8 minutes flight as a reasonable
expectation. We based this value based on the average flight times reported by various
hexacopter owners from across the web, who usually reported times between 10 and 15
minutes based on Ecalc, our hexacopter may not go more then 4.5 minutes of flight time
per charge before the battery is depleted.
4.2.3 Flight test
During the flight test, our major concern was stability because we had no on-board
G.P.S, reason being that we had a problem with delay of importing the G.P.S device.

4.3 TROUBLE SHOOTING OF THE DRONE HEXACOPTER AND DIFFICULTIES

FACED
 We faced several problems through the journey of making this project which
demanded our proper attention towards the project. Some of them are discussed in this
section
i. Arming the motors
ii. Interfacing and calibrating the autopilot APM 2.6 Autopilot board
iii. Achieving the stability
iv. Calibration of the ESCs
v. Calibration of the compass

4.3.1 Arming the motors

We are not aware of arming the motors and how to do it and for this reason, we
ended up with an ideal of a drone hexacopter without any response on throttle. So, we
went looking back on our work and found no troubles. After watching several videos
from the internet, we came to learn about the process of arming motors and the problem
was solved. After all the procedures for arming are performed, transmitters should be on
them moving the throttle down and roll left, that will make the flight controller to change
to ARMED state and hence the motors will begin to spin if connected to a power source.
Once we were ready with our drone hexacopter, we started to take trials and we ended
up with unstable flight which kept the drone going around without giving any directional
inputs than other throttle. So, we looked back on shifting the weights on the frame and
taking trials from each trial, we used to take record of the performance using the
interfaced Autopilot and after such several trials, we were able to achieve a stable flight.

4.3.2 Safety precautions during test

The following safety measures have to be observed during test to ensure users
safety and general safety of the drone hexacopter.
i. Ensure flying multi- rotor are kept away from objects, such as obstacles, human
beings
ii. Do not get close to or even touch the working motors and propellers, which will
cause serious injury.
 iii. Do not over load the multi-rotors
iv. Check that the propellers and the motors are installed correctly and firmly before
flight
v. Make sure the rotation direction of each propeller is correct.
vi. Check weather all parts of multi-rotor are in good condition before flight. Do not fly
with hold or broken parts
vii. Always carry the drone from the base. Carrying from the arms may cause damage
to the arms and the propellers may go off accidentally.
viii. make sure to have the RC unit turned off before turning on the drone. This will
avoid the possibility of propellers hitting the hand set up the drone.
ix. Make sure the RC unit is turned off before attempting to retrieve and turn off the
drone.
x. Do not fly in strong winds or rainy conditions. Strong winds can carry the drone
more than is within permittable bounds and water can damage important
components.

4.4 TEST SUMMARY

The results of the testing of the drone shows the possibility that it will be capable
of completing a mission with a 1kg payload based on Ecalc. The stability is a huge
factor to fly the drone hexacopter. An excessive amount of balance needs to be applied
when adding the components as the slightest weight increased cause the drone to drift
in a particular direction.
 CHAPTER FIVE
DISCUSSION, SUMMARY AND CONCLUSION
5.1 SUMMARY
Our goals were to upgrade an already design delivery drone Hexacopter of a
remote control with area view capability which uses six propellers, each controlled by its
own motor and electronics speed controller (ESC). We complete the coding and
integration of the GUI so that we can achieve full autonomous control with both
computer and a RC controller. However we would also want to improve the view
capability of the drone and improve the battery performance to achieve the flight time
and also buy much more sophisticated ESCs that can optimize power.
As it can be seen, throughout the thesis, the assigned goals were achieved to some
extent. Identification and measurement of components weights were the challenges.
The lack of any measurement devices forced us to improve our own simple
measurements.

5.2 CONCLUSION
In this project, our aim was to upgrade an already design delivery drone of a
remote control Hexacopter with area view capability which uses six propellers each
controlled by its own motor and Electronics Speed Controller (ESC) and also to source
for materials to upgrade a drone Hexacopter as described in the aim.
We introduced and mentioned some of the uses of drone Hexacopter and their
specifications, followed by the literature review, advance developments, principles
operation of the drone review of the initial design. Furthermore, the research
methodology comprises of the construction and upgrades of a remotely controlled drone
Hexacopter system that can take off and ESC Calibration/Configuration of Transmitter
using the Open Pilot GPS software were also elaborated upon. More so, we provided
various test results at different levels such as flight test, battery/motor compatibility test,
thrust test and result, and lifetime test and result. We tested the performance of
batteries and motors and also compared the thrust output to the weight of the drone. At
this stage, we achieved our aim to a reasonable extent.
Most notably were issues with the calibration and interfacing. Another problem was
balancing of the drone to fly.
Every project comes with its own set of issues and it is our duty as engineering students
to work through those issues and solve the problems the best we can. We feel that is
exactly what we managed to do in this project.

5.3 REFERENCES
i. Debrie M.(2021). “Construction and upgrade of hexacopter drone”. Retrieved from
A step guide to beginners:
AircraftDesign&[Link]://[Link]/books/
about/[Link]?id=TAtazgEACAAJ&redir-esc=y
ii. Christian M, (2020) “Design specification”. Retieved from FPV flight dynamics
masters Acro mode on high performance drone(paperbook):
[Link]
[Link]
iii. Moussid M, Sayouti A and Medromi H, (2021) “Dynamic Modeling and control of a
hexa-rotor using Linear and nonlinear Methods”. Max Plank institute of Human
Development, Berlin.
iv. Alaimo A, Artale V, Milazzo C, and Ricciardello A (2020) “PID Controller Applied to
Hexacopter Flight”. Faculty of Engineering and Architecture, Kore University of
Enna, Italy.
v. Ahmed O, A (2022). “Stabilization and control of autonomous hexacopter via visual
servicing and cascaded-proportional and derivative (PD) controllers”. Department
of Mechatronics Engeering International Islamic University, Kuala Lumpur,
Malaysia.