Unit I- INTRODUCTION TO DRONE

Definition of drones

History of drones
Classification of drones based on structure- Fixed wing structure, Lighter than air
systems and Rotary-wing aircraft

Application of drones
Parts of Drone system
System design, Mechanical design, hardware design
software architecture

Logistic and Operations Management.

INTRODUCTION:

An unmanned aerial vehicle (UAV) or uncrewed aerial vehicle commonly known as a

drone, is an aircraft without any human pilot, crew or board.
passengers on

UAVs are a component of an unmanned aircraft

system (UAS), which include
additionally a ground-based controller and a system of communications with the UAV.

The flight of UAVs may operate under remote control

by a human operator, as remotely-
piloted aircraft (RPA), or with various degrees of autonomy, such as
autopilot assistance,
up to fully autonomous aircraft that have no
provision for human intervention.
UAVs were
originally developed through the twentieth century for
military missions
 As control technologies improved and costs fall, their use in the twenty-first century is
rapidly finding many more applications including aerial photography, product deliveries,
agriculure, policing and surveillance, infrastructure inspections.

PARTS OF A DRONE

Props

Electronic Speed Controllers

D ensors/Gyros

Recelver Man Controller

Transmitter
Motors

KEY PARTS

From an engineer's view, the key parts of a drone system are the hardware, software, and
mechanical elements;

and a perfect balance between the three provides a flawless system design.

HARDWARE

Hardware is the electrical part of the drone system, which is eventually a PCBA (printed
circuit board assembly).

Hardware is a multilayer PCB that accommodates the SOC (system on a chip) and
different
components of the subsystems interconnected through copper traces (part of the PCB) or
physical wires. Figure shows the PCBA assembled with SOC and subsystems on the top
side (primary side).

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THE SOC

The SOC is a miniature computer on a chip of a present generation systems, especially a

drone systenm. It's a semiconductor device and an integrated circuit that usually integrates
dhgital, analog. mixcd signal, and radio frequency devices on a single chip. SOCs are
most commonly used in mobile computing and embedded systems.

In general, there are three distinguishable types of SOCs: SOCs built around
mierocontroller, SOCs built around a microprocessor, and specialized SOCs designed for
specitie applications that do not fit into the above two categories. SOC usually consume
less power and have a lower cost than the multichip systems they replace.

RRT

inte

Figure shows a typical SOC that integrate digital, analog, and mixed signal devices on a
single chip. The device at the center of the SOC is the silicon, and some capacitors are
distributed on the top side of the SOC. The bottom side of the SOC shows pins (called as
balls in a ball grid array), which are soldered establish the
on toa PCB to
connection with
the subsystems through PCB traces.
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 Subsystems
technologies rcquired in a system to fulfill the
Subsystems or electrical subsystems are
of the
intended usage of the system. Broadly speaking, subsystems fall into any one

"communication
following computer architectüre parts: input, output, storage, and
devices.

Input
and remote control are
A touch panel, keyboard, mouse, microphone, camera, sensors,
some examples of input devices of a system.

Output
of output devices of a
Displays, speakers, motors, fans, and LEDs are some examples
System.

Storage
Memory, flash, hard disk drive, optical drive, secure digital, and solid-state drive are

some examples of the storage devices of a system.

Communication Devices
Wired LAN (local area network), wireless LAN, mobile networks (3G, 4G, and LTE)
and USB are some examples of the communication
GPS (Global Positioning System),
above may or may not be a part of a
devices of system. All of the subsystems listed
a

the right subsystems to be part of the

particular drone design. The target application picks
drone system design.
For example, if the intended application ofa drone is surveillance, it should be equipped
should be capable of
with high-resolution camera and the SOC used in the system
a

from that camera. The PCBA should be

accepting and processing the high-speed data
the high-speed data between SOC and the
designed in such a way as to interconnect data via the
the live or recorded
camera module and then be capable of transmitting
wireless communication modules.

Besides SOC, the camera module, wireless module (WiFi/3G/4G modules), memory.,
the basic required subsystems for a
internal storage, sensors, and flight controllers are
surveillance drone.

SOFTWARE

of software that need to use on the drone system:

There are 1four categories
Firmware components
 OS and drivers

Sensing, navigation, and control

Application-specific componenis

MECHANICAL
The mechanical system is basically the enclosures, form factor, or simple ID (industrial
design) of the drone.
The ID determines the exterior and appearance of the drone. The ID of the drone will
usually have numerous mechanical parts in a complicated assembly with electrical parts
interconnected through mechanical or thermal interconnects.
The most popular drone, has a quadcopter built from an X-frame or H-frame with four
servo motor/propeller units on each end with numerous other mechanical parts along with
the PCBA enclosed in plastic.

A drone with frame as a base includes propellers, motors, landing gear, body (usually
PCBA, flight controllers, and motor drivers), and a battery.

HISTORY OF DRONES
With the maturing and miniaturization of applicable technologies in the 1980s and 1990s,
interest in UAVs grew U.S. military. In the 1990s, the U.S. DoD gave a contract to AAI
Corporation along with Israeli company Malat. The U.S. Navy bought the AAl Pioneer
UAV that AAI and Malat developed jointly. Many of these UAVs saw service in
the 1991 Gulf War. UAVs demonstrated the possibility of cheaper, more capable fighting
machines, deployable without risk to aircrews. Initial generations primarily
involved surveillance aircraft, but some carried armaments, such as the General Atomics
MQ-1 Predator, that launched AGM-114 Hellfire air-to-ground missiles.
CAPECON was a European Union project to develop UAVs, running fromI May 2002
to 31 December 2005.
As of 2012, the USAF employed 7,494 UAVs - almost one in three USAF aircraf.

The Central Intelligence Agency also operated UAVs. By 2013 at least 50 countries used
UAVs. China, Iran, Israel, Pakistan, Turkey, and others designed and built their own
varieties. The use of drones has continued to increase. Due to their wide proliferation, no
comprehensive list of UAV systems exists.

The development of smart technologies and improved electrical power systems led to a
parallel increase in the use of drones for consumer and general aviation activities.

As of 2021, quadcopter drones exemplify the widespread popularity of hobby radio

controlled aircraft and toys, however the use of UAVs in commercial and general
 aviation is Iimited by a lack of autonomy and new regulatory environments which require
line-of-sight contact with the pilot.

CLASSIFICATION

UAVs may be classificd ike any other aircraft, according to design configuration such as

weight or engine type, maximum flight altitude, degrec of opcrational autonomy,

operational role, etc.

Bascd on the weight

Based on their weight, drones can be classified into five categories

nano (weighing up to 250 g), Micro air vehicles (MAV) (250 g 2 kg). Miniature
UAV or small (SUAV) (2-25 kg), medium (25-150 kg), and large (over 150 kg).

Based on the degree of autonomy

Drones could also be classified based on the degree of autonomy in their flight
operations. ICAO classifies uncrewed aircraft as either remotely piloted aircraft or fully
autonomous.

Some UAVs offer intermediate degrees of autonomy. for example, a vehicle that is
remotely piloted in most contexts but having an autonomous return-to-base operation.

Some aircraft types may optionally fly manned or as UAVs, which may include manned
aircraft transformed into uncrewed or Optionally Piloted UAVs (OPVs).

Based on the altitude

Based on the altitude, the following UAV classifications have been used at industry
events such as Unmanned Systems forum:

Hand-held 2,000 ft (600 m) altitude, about 2 km range

Close 5,000 ft (1,500 m) altitude, up to 10 km range

NATO ype 10,000 n (3,000 m) altitude, up to 50 km range

Tactical 18,000 f (5,500 m) altitrude, about 160 km range

MALE (medium altitude, long endurance) up to 30,000 ft (9,000 m) and range over
200km

HALE (high altitude, long endurance) over 30,000 ft (9,100 m) and indefinite range

Hypersonic high-speed, supersonic (Mach 1-5) or hypersonic (Mach 5+) 50,000 f

(15,200 m) or suborbital altitude, range over 200 km

Orbital low carth orbit

 CIS Lunar Earth-Moon transfer
Computer Assisted Carricr Guidance System (CACGs) for UAVs
Based on the composite criteria

An example of classification bascd on the composite criteria is U.S. Military's unmanned

acrial systems (UAS) classi fication of UAVs based on weight, maximum altitude and speed
of the UAV component

TYPES OF DRONES

Drones can be categorized into the following six types based on their mission:

Combat: Combat drones are used for attacking in the high-risk missions. They are also
known as Unmanned Combat Aerial Vehicles (UCAV).

They cary missiles for the missions. Combat drones are much like planes.

Logistics: Logistics drones are used for delivering goods or cargo. There is a number of famous
companies, such as Amazon and Domino's, which deliver goods and pizzas via drones. It is
easier to ship cargo with drones when there is a lot of traffic on the streets, or the route is not
easy to drive.
Civil: Civil drones are tor general usage, such as monitoring the agriculture fields, data
collection, and aerial photography. The following picture is of an aerial photography drone:

Reconnaissance:
These kinds of drones are also known as mission-control drones. A drone is assigned to do a task
and it does automatically, and usually returns to the base by itself, so they are used to get
information from the enemy on the battleficld. These kinds of drones are supposed to be small
and easy to hide. The following diagram is a reconnaissance drone for your reference, they may
vary depending on the usage:
Target and decoy:
These kinds of drones are like combat
the attack
drones, but the difference is, the combat drone
capabilities for the high-risk mission and the target and provides
ground and aerial gunnery with a target that simulates the decoy drones provide the
missile or enemy aircrafts.

Research and development:

These types of drones are used for
collecting data from the air. For example, some drones
are used for
collecting weather data or for providing internet.
TYPES BASED ON WNG

Classify drones by their wing types. There are three types of drones depending on their
wings or flying mechanism:

Fixed wing:
A fixed wing drone has a rigid wing. They look like airplanes. These types of drones
have a very good battery life, as they use only one motor (or less than the multi-wing).
They can fly at a high altitude.

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 They can
caity more
weight because they can float on air for the wings. There are also
some disadvantages of fixed
wing drones. They are
knowledge of acrodynamics. They break a lot and trainingexpensive
and require a good
is required to fly them.
The launching of the drone is hard
and the landing of these
The most important types of drones is difficult.
thing you should know about the fixed wing drones is they can only
move forward. To change the directions
to left or right, we need to create air
from the wing. pressure

FIXED WING UAS

ROTARY wING
Single rotor: Single rotor drones are simply like helicopter. They are strong and thee
propeller is designed in a way that it helps to both hover and change directions.
Remember, the single rotor drones can only hover vertically in the air.

They are good with battery power as they consume less power than a multirotor.

The payload capacity of a single rotor is good. However, they are dificult to fly.

Their wing or the propeller can be dangerous if it loosens.

ROTARY wING UAS

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 They can
carry more weight because they float
can on air for the
disadvantages of fixcd wing drones. They are expensive wings.
some There are also
and require a good
knowledge of acrodynamics. T'hey brcak a lot and
training is required to fly them.
The launching of the drone is hard
and the landing of these
types of drones is
The most important
thing you should know about the fixed wing drones is they difficult
can only
move forward. To
change the directions to left or right, we need to create air pressure
from the wing.

FIXED WING UAS

ROTARY WING

Single rotor: Single rotor drones are simply like helicopter. They are strong and the
propeller is designed in a way that it helps to both hover and change directions.
Remember, the single rotor drones can only hover vertically in the air.

They are good with battery power as they consume less power than a multirotor.

The payload capacity of a single rotor is good. However, they are dificult to ny.

Their wing or the propeller can be dangerous if it loosens.

ROTARY WING UAS

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 Multirotor: Multirotor drones
arc the most
classified depending on the common among the drones.
They are
number of wings they have, such as
or rotors),
quadcopter (four rotors), hexacopter (six rotors), and tricopter (three propellers
octocopter (eight rotors).
The most common
multirotor is the quadcopter.
The multirotors are casy control. They are good with
to
off and land payload delivery. They can take
vertically, almost anywhere. The flight is more stable than the
and the fixed single rotor
wing.
One of the
disadvantages of the multirotor is power consumption. As they have a number
of motors, they consume a lot of power.

TYPES OF MULTIROTOR DRONES

Classify multirotor drones by their body structure.

They can be known by the number of
propellers used on them. Some drones have three propellers. They are called
there are four tricopters. If
propellers or rotors, they are called quadcopters. There are
hexacopters and
octacopters with six and eight propellers, respectively.
The gliding drones or fixed wings do not have a structure like copters. They look like the
airplane. The shapes and sizes of the drones vary from
purpose to purpose.
The Ready to Fly (RTF) drones do not require any assembly of the parts after
You buying.
can fly them just after buying them. RTF drones are great for the
beginners. They
require no complex setup or
programming knowledge.
The Bind N Fly (BNF) drones do with
not come a transmitter. This means, if you have
bought a transmitter for your other drone, you can bind it with this type of drone and
fly.
The problem is that an old model of transmitter
drones are for experienced flyers who have
might not work with them and the BNF
already flown drones with safety, and had the
transmitter to test with other drones.
The Almost Ready to Fly
(ARF) drones come with everything needed to fly, but a few
parts might be missing that might keep it from flying properly.
They come with all the parts, but you have to assemble them together before flying. You
might lose one or two things while assembling.
So be careful if you buy ARF drones. We
always lose screws or spare small parts of the
drones while we assemble.

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 From the name of these types of drones, you
name. The ARF drones
can
imagine why they are called by this
require a lot of patience to assemble and bind to fly. Just be calm
while assembling.

CARBON FIBER AND PLASTIC PROPELLERS

Plastic

carbon Tber

A propeller converts rotational motion into thrust in agreement with the Bernoulli's
principle. Aircraft propellers are characterized by the size, pitch, nmumber of blades, and
type of material. Carbon fiber propellers are more expensive than plastic ones and
provide better performance. They are more rigid and produce less vibration when
spinning.
I n addition, they are lighter and more durable during small crashes. However, as they are
more rigid, the motor bearings support higher impacts during crashes.

PHYSICAL STRUCTURE OF DRONE:

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 Unmanned aerial vehicle

Aircraft
Computing
body power

Remote
Control
Energy
supply Com (e.g.ground
module Control
station)
Sensors Actuators Data link

FEATUREs
Crewed and uncrewed aircraft of the
physical components. The main
same type generally have recognizably similar

life
exceptions are the cockpit and environmental control
system or
support systems.
Some UAVs
carry payloads (such as a camera) that weigh considerably less than an adult
human, and asresult, can be considerably smaller. Though they
a
carry heavy payloads,
weaponized military UAVs are lighter than their crewed
armaments. counterparts with comparable

Control systems for UAVs are often different than crewed craft. For
remote human
control, a camera and video link almost
always replace the cockpit windows;
transmitted digital commands
replace physical radio
used on both crewed and uncrewed aircraft, with cockpit
controls. Autopilot software is
varying feature sets.
PARTS OF BLOCK DIAGRAM

UAV computing capability followed the advances

with analog controls and evolving
of computing technology, beginning
into
and microcontrollers, then system-on-a-chip (SOC)
single-board computers (SBC).
System hardware for small UAVs is often called the
controller board (FCB) flight controller (FC), flight
or
autopilot.
Sensors

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 Position and movement
sensors give information about the aircraft
sensors deal with state. Exteroceptive
extermal information like distance
Exproprioceptive ones correlatc internal and external states. measurements, while
Non-cooperative sensors are able to detect
separation assurance and collision avoidance. targets autonomously so
they are used tor

Degrees otf
freedom (DOF) refers to both the
DOF implies 3-axis gyroscopes and and quality of sensors on board: 6
amount

IMU), 9 DOF refers

accelerometers (a typical inertial measurement unit-
to an IMU plus a
compass, 10 DOF adds
usually adds a GPS receiver. a barometer and 11 DOF

Actuators
UAV actuators include digital electronic
motors) linked speed controllers (which control the RPM of the
motors/engines and propellers, servomotors (for planes
to
and helicopters
mostly), weapons, payload actuators, LEDs and speakers.
Software
UAV software called the
flight stack or autopilot. The purpose of the flight stack is to
obtain data from sensors, control
motors to ensure UAV
control and mission stability, and facilitate ground
planning communication.
UAVs real-time systems that require
are
rapid response to changing sensor data. As a
result, UAVs rely on single-board
computers for their computational needs. Examples of
such single-board computers include Raspberry Pis,
with NavI0, PXFMini, Beagleboards, etc. shielded
designed from scratch such as NuttX, preemptive-RT
etc. or
Linux, Xenomai, Orocos-Robot Operating System or DDS-ROS 2.0.

APPLICATION OF DRONES

An unmanned aerial vehicle

(UAV), commonly known as adrone, is an aircraft without a
human pilot onboard. UAVs are a
component of an unmanned aircraft system, which
includes a UAV, a
ground-based controller, and a system of communications between the
two.

The flight of UAVs may operate with various

control
degrees of autonomy, either under remote
by a human
operator or autonomously by onboard computers.
Drones are classified into different
categories based on the applications. Applications are
broad, and from the
design perspective, generally fall under three major groups:
industrial (enterprise), and commercial. military

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 MILITARY

Drones in
military applications arc uscd for anti-aircraft target practice, intelligence
gathering and, more controversially, as weapons platforms.

INDUSTRIAL
The integration of drones and loT (Internct of Things) lechnology has created nurnerous
ndustral and enterprise usc cascs: drones working with on-ground 1OT sensor networks

can heip agTicultural companies monitor land and crops, energy companies survey power
mes and operational equipment, and insurance companies monitor properties for claims
and/or policies.

COMMERCIAL
The commercial field is a growing development, where the largest, strongest, fastest, and
most capable drones on the market are targeted toward the professional community. They
are the types of machines that the movie industry puts to work and that commercial
agencies use to inspect infrastructure.
Some impressive self-piloted drones survey individual farmer's fields. Commercial
drones are the smaller consumer products that make up just a tiny portion of the overall
drone market. Look at the picture of commercial drone:

AGRICULTURE DRONES COMMERCIAL DRONES

MECHANICAL DESIGN
of mechanical parts in drone ID. This is also the
Figure shows the typical stack-up a

cross-sectional view of the mechanical design of the drone, and the significance of each
part is explained below. This stack-up may differ for drones in ditferent applications.

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 Propeller EnclosureTop Propeller
Motor
DB Motor
Air Gao
X-Frame

Enclosure Bottom Air Gap EnclosureBottom

Myla
MB
CPU
Shielding TM
Heat Spreader
Air Gap
Heat Spreader
Enclosure Bottom
Camera
Module

DRONE SYsTEM STACK UP

1.Propeller: Angled blades attached to the revolving shaft of a motor. These blades give
thrust and are why the drones can fly high.

2. Propeller motor: This is a DC motor attached to the four cormers of the X-Frame.
Power from the drone's clectrical system rotates the blades to provide thrust to the drone.

3 . Enclosure top: A plastic or fiber mechanical enclosure of the drone protects the
internal electrical and mechanical subsystems from the extermal disturbances. Enclosures
also provide the aesthetic look for the drone as a product.

4. X-frame: This is the vertebra of the drone. All of the other mechanical parts and
subsystems of the drone are attached to the X-frame through different types of fasteners
or ties. The X-frame is symmetrical by dimensions and weight on all sides to achieve a
balanced flight of the drone. So the crOss-sectional view is symmetrical on axis.

Enclosure bottom: A plastic or fiber mechanical enclosure of the drone protects the
internal electrical and mechanical subsystems from the external disturbances. Enclosures
also provide the aesthetic look for the drone as a product.

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 films and sheets. it
6. Mylar: A form of polyester resin used to make heat-resistant plastic
X-
conductive layer of the PCBA and the metallic
acts as an insulation layer between the
frame.
the
of the electrical parts of
7 . MB (motherboard): The PCBA of the system hosts all
the same layer can
system soldered on to it. By modifying the PCBA shape,

accommodate the battery on the sides of the PCBA.

the system. All other devices
8. CPU: Usually an SOC, it's the processing unit of
to the CPU.
soldered on the PCBA are on the same layer adjacent
from
usually need shielding
to protect
9. Shielding and TiM: Digital and RF devices
Radiation from
external devices through radiation.
external disturbances or to protect the
the shicld to a system ground.
the extemal world is suppressed by connecting
on the
graphite, is pasted as a thin layer
The TIM, thermal interface materials such as
of the system.
shield to radiate the excess heat generated from the components
heat source and a
heat between a
10. Heat spreader: The heat exchanger that moves
more favorable than the
whose surface area and geometry are
secondary heat exchange,
Source.
acts an insulator and
a system. This air gap
Provided wherever necessary in
11.Air gap: contraction due to unavoidable
reasons in a

also accommodates material expansion and

system.
is the camera
lower-most part of the drone in this application
12. Camera module: The when drone fly high.
a better field of view (FOV)
module. Attached on the bottom to get
SOC through the USB 3.1
accommodate ISPs and connect to the
Most camera modules connect to
camera sensor can directly
interface. If the SOC has integrated ISPs, then the
interfaces.
the SOC with camera-specific
can't be accommodated in the single
13. DB(daughterboard): If all of the ingredients
on the system to accommodate
PCBA, then there can be several daughterboards connected through
additional Motherboards and daughterboards can be
ingredients.
board-to-board interconnections or a flex PCB interconnect.

be kept below the X-frame. The metal

In this drone, the WiFi+BT module
cannot

embedded antenna. Alternatively, the

X-frame might obstruct the signal for the module's
module can be kept in the same PCBA with the external antenna, which may not be good

for an ID.
14. FPC (flexible PCB): Generally used to connect one or more rigid PCBs in a complex

system.
 sOFTWARE ARCHITECTURE
Software is the driver (in a
way) of a
system. In other words, the hardware
capabilities, while the software uses the same, makes it run, and provides the
functionality. provides the desired

Theoretically speaking, there is

always a possibility to design purpose-built hardware
(with limited soflware) for a particular usage; however,
or no
need to make design decisions in
terms of what
practically speaking, we
and what should be of
functionality should be part of hardware
part software.
These design decisions are made very early in the
the hardware and software system requirement phase. And, once done,
designs run in parallel. Of course, there is some
dependency of SW development (and testing) on HW
availability.
However, the
dependency mitigated by means of using HW simulators.
is
are used The simulators
to provide the functional models of hardware, which can be used to
validate the software. run and

1.Firmware components: You know that the

firmware components are
tiedto the device
they are associated with. The device vendor is dependent on and

production-worthy firm-ware for the device. responsible for providing

2.0S and drivers: The OS
component is
number of OS flavors and variations that supplied by the OSV (OS vendors). There are a
we can choose
from. This decision is
the OS properties and
characteristics. For our example, we'll use a real-time guided byy
system, since drones are real-time devices. operating
The drivers fall into two
categories. The drivers for generic devices based on a certain
standard can be part of the OS itself, as an
inbox component. However, the drivers
devices with differentiated values and for
characteristics are provided by the device vendor
itself.

LOGISTIC AND OPERATIONS MANAGEMENT

Logistics and operations management is critical to the success
involves high volume of the project, which
manufacturing. Commercial drones are usually produced in high
volumes. Agricultural drones like
but the process of
Crop Squad will be manufactured in lesser volumes,
logistics and
operation management will be same when it is built by
bigger companies partnering with ODM/OEMs.
Logisticsand operations
management is also referred to as supply chain management,
and includes all the
operations end to end, from the extraction
materials to the of raw
manufacturing of the end product. Logistics is the key functionin meeting
requirements quickly, flexibly, and without incurring inventory cost. Theremarketare
representatives from the designers, third-party vendors
factory to manage the logistics and supply chain. supplying materials, and the
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 Operations management tracks the overall project schedule,
management, and coordination of supply chain, stakeholder
internal teams, third-party vendors, and
customers. Each party or the extermal
company participating in the development of the drone
benefits from the success of the
drones.
product; this is common for all
types of products, not just
Board and System Assembly
The supply chain management makes sure that the line items of the system BOM and
EBOM
will be available on the scheduled date for PCB assembly and system
assembly.
Demand BOM
The demand BOM
generates reservations for components that are in stock and
components that are not in stock. Each part has a
requisitions for
items and make items of the board as well as
unique part number. This includes the buy
the system. Buy items are the parts that need to be
procured from third-party suppliers; they already have
unique manufacturer part numbers. Make
items will not have a
manufacturer or manufacturer part number because they are custom made
in the internal
design house.
Production BOM

A production BOM is the final BOM. It is hierarchical in nature and

includes all board-level and
system-level components, subassemblies, and software required for the final product build.
Exactly two weeks before the PCBA build and system build, the BOM needs to be frozen, after
which no parts can be added. The addition of any new
component in this phase will cause a delay
in the PCBA or product build, which will affect the overall product schedule.

Two weeks is not a standard practice; it depends on the lead time of the parts used in the BOM.
The lead time of some special parts can be in terms of months. Any part added at the last minute
with a month-long lead time will hold the PCBA and system build until that part docks in the
factory.

TEXT/ REFERENCE BOOKS

1. Syed Omar Faruk Towaha, "Building Smart Drones with ESP8266 and Arduino: Build
exciting drones by leveraging the capabilities of Arduino and ESP8266" Packt Publishing,
2018

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