The goal for this thesis is to construct a quadcopter drone and design a controller for precise movements. The drone will be used to replace dangerous tasks that are currently done by hand like elevated painting, window washing, phoneline repair, etc. There are hundreds of different models and specifications of quadcopter drones, but the focus of the thesis is not on the actual body of the drone. The parts will be ordered online and assembled without rigorous design and analysis. The main goal of the drone design is within the controller to allow for precise movements from one location to another. The best software currently on the market for flight control is a program called ArduPilot. The first step will be to learn the software behind ArduPilot and design the controller in it. Since it is a popular software, the controller design might be very straightforward. If that is the case, the next step will be to design my own controller with a different software. After the controller design it finished, I will test the drone for flying precision and tweak the controller as necessary.

The purpose of this project was to develop a system capable of launching projectiles at a curved trajectory. This system effectively imparts spin on projectiles, enabling controlled indirect fire for the intended use of military operations. Through this proof of concept, it was determined whether a scaled system would be a viable solution to the issue of controlled indirect fire in dense urban areas. Using a series of coaxial motors with independently controlled speeds, it was possible to alter the horizontal and vertical displacement of objects in flight.