Timeline and Validation

Phase plan

Phase 1: Design and Procurement

• finalize the component list and bill of materials
• order the frame, motors, ESCs, Teensy, IMU, battery, and accessories
• set up Git and PlatformIO
• draft architecture and block diagrams
• assign committee responsibilities

Phase 2: Hardware Build

• assemble the airframe and mount motors
• install ESCs and route power wiring
• mount the Teensy and sensor board
• complete the wiring harness
• perform a bench power-on test

Phase 3: Firmware Development

• implement IMU reads and RC input parsing
• implement attitude estimation
• implement PID loops for roll, pitch, and yaw
• implement motor mixing and ESC outputs
• validate firmware on the bench with props removed

Phase 4: Initial Flight Testing

• conduct tethered hover tests
• log attitude, motor outputs, and PID error data
• tune gains iteratively
• validate attitude hold under disturbances

Phase 5: PID Tuning and Validation

• fine-tune gains from flight data
• run step response tests on roll, pitch, and yaw
• characterize disturbance rejection
• record final gains and measured performance

Phase 6: Documentation and Handoff

• populate core documentation pages
• record and annotate flight test videos
• publish final code and parameter sheets
• hold a lessons-learned debrief

Gantt summary

Functional requirements

• stable, controlled hover for at least 30 seconds
• roll and pitch attitude error under +/-2 deg during steady hover
• yaw drift under +/-5 deg per minute without correction
• RC input response within 100 ms
• PID loops running at a minimum of 250 Hz
• motor outputs generated with less than 1 ms latency from sensor read

Performance requirements

Validation status

Test results log