Build Obstacle Avoidance Drone Using Arduino

Arduino Projects Drone Projects

Build Obstacle Avoidance Drone Using Arduino

INTRODUCTION

In this reader, we will be discussing how to build an obstacle avoidance drone using Arduino. This can be a useful skill to have if you are looking to get into the drone-building hobby, or if you simply want to create a drone that can avoid obstacles. This drone will use an ultrasonic sensor to detect obstacles in its path.

The trend of technological advancement has led to the development of some amazing devices and gadgets. The use of these devices and gadgets has made our lives easier and better. One such amazing device is the drone

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Drones are unmanned aircraft that can be controlled remotely. They are mainly used for aerial photography and videography. However, they can also be used for other purposes such as surveillance, delivery, and search and rescue operations. Drones are becoming increasingly popular and are being used for various purposes. However, one of the main issues with drones is that they can sometimes collide with obstacles while in flight.

This can damage the drone and also pose a danger to people and property. One way to avoid collisions is to use obstacle avoidance sensors. These sensors can detect obstacles in the path of the drone and send a signal to the drone to change its course. This would help to avoid collisions and make drones safer to use.

In this project, we will be building a drone that can avoid obstacles using Arduino. We will be using infrared sensors to detect obstacles and a buzzer to indicate when an obstacle is present. The drone will be programmed to fly around an obstacle when it is detected. This project is perfect for beginners who are interested in learning about drones and programming. It is also a great project for those who want to build a drone that can be used for practical purposes. So, let’s get started! The Ultimate Guide to How To Build a Drone At Home: Guide for Beginners 2022

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Parts and Tools Required – Arduino Drone

Bigneers Guide to Build drone at home

Important Parts Of A Drone – Every Component Explained

Bigneers Guide to Build drone at home

Important Parts Of A Drone – Every Component Explained

Collect the Components Before you start, you’ll need to gather all of the components for this drone. We’ll be using the following: –

🌀 Parts Used :

You can find all components on amazon.com

🌀 Drone Kit ~ for Build a Drone

Motors https://amzn.to/36Zb8tK
ESCs (Electronic Speed Controllers) https://amzn.to/3jhDimd
Frame https://amzn.to/3jjJ6LJ
Receiver https://amzn.to/3xbG9Fm
Transmitter https://amzn.to/3xbG9Fm
Flight Controller https://amzn.to/3DTNhaO
Propellers https://amzn.to/3jmAd4e
Battery https://amzn.to/3DTNGdk

Here’s how it works:

The Ultrasonic sensor measures the distance between the sensor itself and the object and transmits it to the Arduino in the form of the analogue signal (value range: 0 to 1023). We should make a setpoint say 35cm from the Ultrasonic sensor so if the setpoint reaches below 35cm the PID algorithm in the Arduino will start its work by sending out the correction value to the stabilization board.

Most of you understand what PPM and PWM signals are and how it is used in the RC heavens and this is how it is used in our project.

Pulse width modulation (PWM) is a type of modulation where the width of the pulse is varied to encode information. The width of the pulse is proportional to the amplitude of the signal. Pulse width modulation is commonly used in control systems where it is used to control the speed of a motor or the brightness of a light.

RC Devices that use PWM Pulses:

Servos
Electronic Speed Controllers
R/C receivers
Data loggers
Autopilot/Stabilization systems
Servo Controller

PWM-signal

Pulse position modulation (PPM) is a type of modulation where the position of the pulse is varied to encode information. The position of the pulse is proportional to the amplitude of the signal. Pulse position modulation is commonly used in communication systems where it is used to encode information in a signal.

PWM and PPM Difference and Conversion

RC Devices that use PPM Pulses:

R/C transmitters
R/C receivers
Autopilot/Stabilization systems
PCTx

ppm-signal — PPM-signal

The Drone contains Five basic components:

1x Arduino Nano. It is the brain of our drone and where the flight control software will run

1x Ultrasonic Sensor HC-SR04. HC-SR04 ultrasonic sensor to measure distances with a measurement error of less than 0.5cm aimed at estimating the flight altitude of our drone

1x Frame 450. It is the structure where we will mount all the hardware components of our drone. We are going to use a 450mm frame :

4x 1000kV motors and 4x 20Amp ESC . One of the most important components of our drone is the motors and the 4 ESCs in charge of making them rotate. We will use 1000kV motors and ESC of at least 20 amps. Make sure that the pack you buy also includes the propellers.

1x Remote control and RC receiver. We will use it to control the drone and make it move as we please. There are countless models available, I leave you the one I use, whose characteristics are sufficient for this application. Make sure that the model you buy also includes the receiver.

1x 3S 5000mAh battery. Drone power source. We will use a 5000mAh 3S battery.

Assembly of the components

we’ll show you how to assemble a quadcopter using an Arduino flight controller. We’ll also go over how to program the Arduino to make the drone fly. It requires a good understanding of electronics and programming. We’ll be using the Arduino IDE to program the Arduino, so if you’ve never used Arduino before, check out our getting started guide.

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Wiring Diagram – Obstacle Avoidance Drone

The wiring diagram is absolutely straightforward. You have to connect the Ultrasonic sensor module pins with Arduino pins as per the schematic diagram. The schematic diagram is shown below.

Build Obstacle Avoidance Drone Using Arduino

You may also follow the following pin mapping

Ultrasonic sensor->Arduino nano

1. Down Sensor

VCC -> VIN
GND -> GND
TRIG & ECHO -> A1

2. Up Sensor

VCC -> VIN
GND -> GND
TRIG & ECHO -> D6

3. Right Sensor

VCC -> VIN
GND -> GND
TRIG & ECHO -> D5

4. Left Sensor

VCC -> VIN
GND -> GND
TRIG & ECHO -> D4

5. Back Sensor

VCC -> VIN
GND -> GND
TRIG & ECHO -> D7

6. Front Sensor

VCC -> VIN
GND -> GND
TRIG & ECHO -> D2

PWM Receiver->Arduino nano

Ch1 -> D8
Ch2 -> D9
Ch3 -> D10
Ch4 ->
Ch5 ->
Ch6 -> A0

Flight Controller->Arduino nano

Ch1 -> D13
Ch2 -> D11
Ch3 -> D12
Ch4 ->
Ch5 ->
Ch6 -> Not connected

Flight Controller-> PWM Receiver

Ch4 -> Ch4
Ch5 -> Ch5

RGB Neopixel->Arduino nano

GND -> GND
VCC -> 5V
OUT -> D3

Make the Circuit

First, download the schematic diagram. The most important thing is any mistakes in the connection may damage the Arduino board. Connect the Sensors, Arduino, Flight controller and RC receiver. Check and double-check the connections.

Proceed to the next stage where we will be uploading the sketch to the Arduino.

Download the Code and Libraries

You can download the Arduino code and supporting libraries from the following links.

Arduino Code:

#include&lt;NewPing.h&gt;  //Download this library by going to &lt;Tools&gt; &amp; then &lt;Manage Libraries&gt;
#include&lt;Servo.h&gt;    //Download this library by going to &lt;Tools&gt; &amp; then &lt;Manage Libraries&gt;
#include &lt;FastLED.h&gt; //Download this library from github&gt;/
CRGB leds[1];
Servo out1; //roll
Servo out2; //pitch
Servo out3; //throttle
int trig1 = 2;
int echo1 = 2;
//int trig2 = A1;
//int echo2 = A1;
int trig3 = 4;
int echo3 = 4;
int trig4 = 5;
int echo4 = 5;
int trig5 = 6;
int echo5 = 6;
int trig6 = 7;
int echo6 = 7;
int MAX_DISTANCE = 400;               
NewPing sonar1(trig1,echo1,MAX_DISTANCE);
//NewPing sonar2(trig2,echo2,MAX_DISTANCE);
NewPing sonar3(trig3,echo3,MAX_DISTANCE);
NewPing sonar4(trig4,echo4,MAX_DISTANCE);
NewPing sonar5(trig5,echo5,MAX_DISTANCE);
NewPing sonar6(trig6,echo6,MAX_DISTANCE);
float dist1,dist2,dist3,dist4,dist5,dist6; 
unsigned long counter_1, counter_2, counter_3, current_count;
byte last_CH1_state, last_CH2_state, last_CH3_state;
int input_PITCH;    //input on D9 of arduino
int input_ROLL;     //input on D8 of arduino
int input_THROTTLE; //input on D10 of arduino
int DN;
int UP;
int antiDN;
int prev_time = 0; 
void setup(){    
 // Serial.begin(115200);
FastLED.addLeds&lt;WS2812, 3, GRB&gt;(leds, 1);
PCICR |= (1 &lt;&lt; PCIE0);                                                   
PCMSK0 |= (1 &lt;&lt; PCINT0);  
PCMSK0 |= (1 &lt;&lt; PCINT1);                                              
PCMSK0 |= (1 &lt;&lt; PCINT2);
  out1.attach(13); //roll
  out2.attach(11); //pitch
  out3.attach(12); //throttle
pinMode(A0,INPUT);
}

void loop(){
  int a=160;
  int b=160;
  int c=160;
  int d=160;
  int e=160;

if(input_ROLL&gt;1600){
d=210;  
}
else if(input_ROLL&lt;1400){
c=210;  
}
if(input_PITCH&gt;1600){
a=210;  
}
else if(input_PITCH&lt;1400){
b=210;  
}

dist1 = sonar1.ping_cm();
dist2 = sonar6.ping_cm();
dist3 = sonar3.ping_cm();
dist4 = sonar4.ping_cm();
dist5 = sonar5.ping_cm();
dist6 = 200; // This Sensor is disabled due to my bad sensor.If you want to enable just replace "200" with "sonar6.ping_cm()"
 
byte roll = map(input_ROLL, 1108, 1856, 55, 125); //maping roll
byte pitch = map(input_PITCH, 1180, 1856, 55, 125); //maping pitch
byte throttle = map(input_THROTTLE, 1160, 1830, 55, 125); //maping throttle

 byte antifront = map(dist1, 6, 210, 55, 60); //force to back
 byte antiback = map(dist2, 6, 210, 125, 120); //force to front
 byte antileft = map(dist3, 6, 210, 125, 120); //force to right
 byte antiright = map(dist4, 6, 210, 55, 60); //force to left
 byte antidown = map(dist6, 1, 100, 125, 120);  //force to up
 byte antiUP = map(dist5, 2, 210, 55, 60);    //force to down   
int val = pulseIn(A0,HIGH);
if(val &lt; 1500){

//    For Pitch..............
if(dist1&lt;a &amp;&amp; dist1&gt;0 &amp;&amp; (dist2&gt;b || dist2==0)){
  out2.write(antifront);
  b=210;
}
else if((dist1&gt;=a || dist1==0) &amp;&amp; (dist2&gt;=b || dist2==0)){
  out2.write(pitch);
}
else if(dist2&lt;b &amp;&amp; dist2&gt;0 &amp;&amp; (dist1&gt;a || dist1==0)){
  out2.write(antiback);
  a=210;
}
else if(dist1&lt;a &amp;&amp; dist2&lt;b &amp;&amp; dist1&gt;0 &amp;&amp; dist2&gt;0){
  out2.write(92);
  c=210;
  d=210;
  e=210;
    if(dist3&gt;c || dist3==0){
    out1.write(55);
   }
   else if(dist4&gt;d || dist4==0){
    out1.write(125);
   }
   else if(dist5&gt;e ||dist5==0){
    out3.write(110);
   }
   else if(dist6&gt;50 ||dist6==0){
    out3.write(60);
   }
}

//    For Roll..............
if(dist3&lt;c &amp;&amp; dist3&gt;0 &amp;&amp; (dist4&gt;d || dist4==0)){
  out1.write(antileft);
  d=210;
}
else if(dist3&gt;=c || dist3==0 &amp;&amp; dist4&gt;=d || dist4==0){
  out1.write(roll);
}
else if(dist4&lt;d &amp;&amp; dist4&gt;0 &amp;&amp; (dist3&gt;c || dist3==0)){
  out1.write(antiright);
  c=210;
}
else if(dist3&lt;c &amp;&amp; dist4&lt;d &amp;&amp; dist3&gt;0 &amp;&amp; dist4&gt;0){
  out1.write(92);
  a=210;
  b=210;
  e=210;  
  if(dist1&gt;a || dist1 ==0){
    out2.write(125);
  }
  else if(dist2&gt;b || dist2 ==0){
    out2.write(55);
  }
  else if(dist5&gt;e || dist5 ==0){
    out3.write(110);
  }
  else if(dist6&gt;50 || dist6 ==0){
    out3.write(60);
  }
}

//    For Throttle..............
if(dist5&lt;e &amp;&amp; dist5&gt;0 &amp;&amp; (dist6&gt;50 || dist6==0)){
  out3.write(antiUP);
}
else if(dist5&gt;=e || dist5==0 &amp;&amp; dist6&gt;=50 || dist6==0){
  out3.write(throttle);
}
else if(dist6&lt;50 &amp;&amp; dist6&gt;0 &amp;&amp; (dist5&gt;e || dist5==0)){
  out3.write(antidown);
}
else if(dist5&lt;e &amp;&amp; dist6&lt;50 &amp;&amp; dist5&gt;0 &amp;&amp; dist6&gt;0){
  out3.write(88);
  a=210;
  b=210;
  c=210;  
  d=210;
  if(dist1&gt;a || dist1==0){
    out2.write(125);
  }
  else if(dist2&gt;b || dist2==0){
    out2.write(55);
  }
  else if(dist3&gt;c|| dist3==0){
    out1.write(125);
  }
  else if(dist4&gt;d || dist4==0){
    out1.write(55);
  }
}

if(input_THROTTLE &lt;= 1400){
  out3.write(throttle);
}

int FB = (dist1&lt;a &amp;&amp; dist2&lt;b &amp;&amp; dist1&gt;0 &amp;&amp; dist2&gt;0); 
int LR = (dist3&lt;c &amp;&amp; dist4&lt;d &amp;&amp; dist3&gt;0 &amp;&amp; dist4&gt;0); 

if(FB &amp;&amp; LR){
  out1.write(92);
  out2.write(92);
  if(input_THROTTLE &lt;= 1400){
  out3.write(throttle);
  }
  else if(dist5&gt;e || dist5==0){
    out3.write(110);
  }
  else if(dist6&gt;50){
  out3.write(60);
  }   
else{out3.write(88);}
}

}

else if(val &gt;= 1500){
  out1.write(roll);
  out2.write(pitch);
  out3.write(throttle);  
}

int f_clear = (dist1&gt;a || dist1==0);  //front no obstacle
int b_clear = (dist2&gt;b || dist2==0);   //back no obstacle
int l_clear = (dist3&gt;c || dist3==0);   //left no obstacle
int r_clear = (dist4&gt;d || dist4==0);  //right no obstacle
int up_clear = (dist5&gt;e || dist5==0);    //up no obstacle
int down_clear = (dist6&gt;50 || dist6==0); //down no obstacle

if(f_clear &amp;&amp; b_clear &amp;&amp; l_clear &amp;&amp; r_clear &amp;&amp; up_clear &amp;&amp; down_clear){
   if(val&lt;1500){
     leds[0] = CRGB(0, 255, 0);
     FastLED.show();
  out1.write(roll);
  out2.write(pitch);
  out3.write(throttle);  
   }
   else if(val&gt;=1500){
     leds[0] = CRGB(235, 255, 200);
     FastLED.show();
   }
}

else if(dist1&lt;a &amp;&amp; dist1&gt;0 || dist2&lt;b &amp;&amp; dist2&gt;0 || dist3&lt;c &amp;&amp; dist3&gt;0 || dist4&lt;d &amp;&amp; dist4&gt;0 || dist5&lt;e &amp;&amp;&amp; dist5&gt;0 || dist6&lt;50 &amp;&amp; dist6&gt;0){
   if(val&lt;1500){ 
     leds[0] = CRGB(255, 0, 0); 
     FastLED.show(); 
   }
   else if(val&gt;=1500){
     leds[0] = CRGB(235, 255, 200);
     FastLED.show();
   }
}

} //Here the main loop ends


//   The Below Codes Reads the PWM value of Receiver
ISR(PCINT0_vect){
current_count = micros();
if(PINB &amp; B00000001){                              
    if(last_CH1_state == 0){                         
      last_CH1_state = 1;                           
      counter_1 = current_count;                     
  }
}
else if(last_CH1_state == 1){                        
last_CH1_state = 0;                             
input_ROLL = current_count - counter_1;  
}
if(PINB &amp; B00000010 ){                                                                          
    if(last_CH2_state == 0){                                               
      last_CH2_state = 1;                                                   
      counter_2 = current_count;                                             
  }
}
else if(last_CH2_state == 1){                                           
last_CH2_state = 0;                                                     
input_PITCH = current_count - counter_2;                             
} 
if(PINB &amp; B00000100 ){                                                                   
   if(last_CH3_state == 0){                                             
      last_CH3_state = 1;                                                  
      counter_3 = current_count;                                               
  }
}
else if(last_CH3_state == 1){                                             
last_CH3_state = 0;                                                    
input_THROTTLE = current_count - counter_3;                            
} 
}

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#include<NewPing.h> //Download this library by going to <Tools> & then <Manage Libraries>

#include<Servo.h> //Download this library by going to <Tools> & then <Manage Libraries>

#include <FastLED.h> //Download this library from github>/

CRGB leds[1];

Servo out1; //roll

Servo out2; //pitch

Servo out3; //throttle

int trig1 = 2;

int echo1 = 2;

//int trig2 = A1;

//int echo2 = A1;

int trig3 = 4;

int echo3 = 4;

int trig4 = 5;

int echo4 = 5;

int trig5 = 6;

int echo5 = 6;

int trig6 = 7;

int echo6 = 7;

int MAX_DISTANCE = 400;

NewPing sonar1(trig1,echo1,MAX_DISTANCE);

//NewPing sonar2(trig2,echo2,MAX_DISTANCE);

NewPing sonar3(trig3,echo3,MAX_DISTANCE);

NewPing sonar4(trig4,echo4,MAX_DISTANCE);

NewPing sonar5(trig5,echo5,MAX_DISTANCE);

NewPing sonar6(trig6,echo6,MAX_DISTANCE);

float dist1,dist2,dist3,dist4,dist5,dist6;

unsigned long counter_1, counter_2, counter_3, current_count;

byte last_CH1_state, last_CH2_state, last_CH3_state;

int input_PITCH; //input on D9 of arduino

int input_ROLL; //input on D8 of arduino

int input_THROTTLE; //input on D10 of arduino

int DN;

int UP;

int antiDN;

int prev_time = 0;

void setup(){

// Serial.begin(115200);

FastLED.addLeds<WS2812, 3, GRB>(leds, 1);

PCICR |= (1 << PCIE0);

PCMSK0 |= (1 << PCINT0);

PCMSK0 |= (1 << PCINT1);

PCMSK0 |= (1 << PCINT2);

out1.attach(13); //roll

out2.attach(11); //pitch

out3.attach(12); //throttle

pinMode(A0,INPUT);

}

void loop(){

int a=160;

int b=160;

int c=160;

int d=160;

int e=160;

if(input_ROLL>1600){

d=210;

}

else if(input_ROLL<1400){

c=210;

}

if(input_PITCH>1600){

a=210;

}

else if(input_PITCH<1400){

b=210;

}

dist1 = sonar1.ping_cm();

dist2 = sonar6.ping_cm();

dist3 = sonar3.ping_cm();

dist4 = sonar4.ping_cm();

dist5 = sonar5.ping_cm();

dist6 = 200; // This Sensor is disabled due to my bad sensor.If you want to enable just replace "200" with "sonar6.ping_cm()"

byte roll = map(input_ROLL, 1108, 1856, 55, 125); //maping roll

byte pitch = map(input_PITCH, 1180, 1856, 55, 125); //maping pitch

byte throttle = map(input_THROTTLE, 1160, 1830, 55, 125); //maping throttle

byte antifront = map(dist1, 6, 210, 55, 60); //force to back

byte antiback = map(dist2, 6, 210, 125, 120); //force to front

byte antileft = map(dist3, 6, 210, 125, 120); //force to right

byte antiright = map(dist4, 6, 210, 55, 60); //force to left

byte antidown = map(dist6, 1, 100, 125, 120); //force to up

byte antiUP = map(dist5, 2, 210, 55, 60); //force to down

int val = pulseIn(A0,HIGH);

if(val < 1500){

// For Pitch..............

if(dist1<a && dist1>0 && (dist2>b || dist2==0)){

out2.write(antifront);

b=210;

}

else if((dist1>=a || dist1==0) && (dist2>=b || dist2==0)){

out2.write(pitch);

}

else if(dist2<b && dist2>0 && (dist1>a || dist1==0)){

out2.write(antiback);

a=210;

}

else if(dist1<a && dist2<b && dist1>0 && dist2>0){

out2.write(92);

c=210;

d=210;

e=210;

if(dist3>c || dist3==0){

out1.write(55);

}

else if(dist4>d || dist4==0){

out1.write(125);

}

else if(dist5>e ||dist5==0){

out3.write(110);

}

else if(dist6>50 ||dist6==0){

out3.write(60);

}

}

// For Roll..............

if(dist3<c && dist3>0 && (dist4>d || dist4==0)){

out1.write(antileft);

d=210;

}

else if(dist3>=c || dist3==0 && dist4>=d || dist4==0){

out1.write(roll);

}

else if(dist4<d && dist4>0 && (dist3>c || dist3==0)){

out1.write(antiright);

c=210;

}

else if(dist3<c && dist4<d && dist3>0 && dist4>0){

out1.write(92);

a=210;

b=210;

e=210;

if(dist1>a || dist1 ==0){

out2.write(125);

}

else if(dist2>b || dist2 ==0){

out2.write(55);

}

else if(dist5>e || dist5 ==0){

out3.write(110);

}

else if(dist6>50 || dist6 ==0){

out3.write(60);

}

}

// For Throttle..............

if(dist5<e && dist5>0 && (dist6>50 || dist6==0)){

out3.write(antiUP);

}

else if(dist5>=e || dist5==0 && dist6>=50 || dist6==0){

out3.write(throttle);

}

else if(dist6<50 && dist6>0 && (dist5>e || dist5==0)){

out3.write(antidown);

}

else if(dist5<e && dist6<50 && dist5>0 && dist6>0){

out3.write(88);

a=210;

b=210;

c=210;

d=210;

if(dist1>a || dist1==0){

out2.write(125);

}

else if(dist2>b || dist2==0){

out2.write(55);

}

else if(dist3>c|| dist3==0){

out1.write(125);

}

else if(dist4>d || dist4==0){

out1.write(55);

}

}

if(input_THROTTLE <= 1400){

out3.write(throttle);

}

int FB = (dist1<a && dist2<b && dist1>0 && dist2>0);

int LR = (dist3<c && dist4<d && dist3>0 && dist4>0);

if(FB && LR){

out1.write(92);

out2.write(92);

if(input_THROTTLE <= 1400){

out3.write(throttle);

}

else if(dist5>e || dist5==0){

out3.write(110);

}

else if(dist6>50){

out3.write(60);

}

else{out3.write(88);}

}

}

else if(val >= 1500){

out1.write(roll);

out2.write(pitch);

out3.write(throttle);

}

int f_clear = (dist1>a || dist1==0); //front no obstacle

int b_clear = (dist2>b || dist2==0); //back no obstacle

int l_clear = (dist3>c || dist3==0); //left no obstacle

int r_clear = (dist4>d || dist4==0); //right no obstacle

int up_clear = (dist5>e || dist5==0); //up no obstacle

int down_clear = (dist6>50 || dist6==0); //down no obstacle

if(f_clear && b_clear && l_clear && r_clear && up_clear && down_clear){

if(val<1500){

leds[0] = CRGB(0, 255, 0);

FastLED.show();

out1.write(roll);

out2.write(pitch);

out3.write(throttle);

}

else if(val>=1500){

leds[0] = CRGB(235, 255, 200);

FastLED.show();

}

}

else if(dist1<a && dist1>0 || dist2<b && dist2>0 || dist3<c && dist3>0 || dist4<d && dist4>0 || dist5<e &&& dist5>0 || dist6<50 && dist6>0){

if(val<1500){

leds[0] = CRGB(255, 0, 0);

FastLED.show();

}

else if(val>=1500){

leds[0] = CRGB(235, 255, 200);

FastLED.show();

}

}

} //Here the main loop ends

// The Below Codes Reads the PWM value of Receiver

ISR(PCINT0_vect){

current_count = micros();

if(PINB & B00000001){

if(last_CH1_state == 0){

last_CH1_state = 1;

counter_1 = current_count;

}

}

else if(last_CH1_state == 1){

last_CH1_state = 0;

input_ROLL = current_count - counter_1;

}

if(PINB & B00000010 ){

if(last_CH2_state == 0){

last_CH2_state = 1;

counter_2 = current_count;

}

}

else if(last_CH2_state == 1){

last_CH2_state = 0;

input_PITCH = current_count - counter_2;

}

if(PINB & B00000100 ){

if(last_CH3_state == 0){

last_CH3_state = 1;

counter_3 = current_count;

}

}

else if(last_CH3_state == 1){

last_CH3_state = 0;

input_THROTTLE = current_count - counter_3;

}

}

Libraries:

You can also download these libraries /Download this library by going to <Tools> & then <Manage Libraries>

Upload the Software

After installing all the libraries we can move to upload the code into the Arduino board. First, you have to Copy the code and then paste it onto Arduino IDE.

Now you are ready to upload the code, just hit the upload arrow button.

Testing

If you are successfully uploaded the code into the Arduino board.

After this final check, you are ready to Fly.

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