| Abstract: |  The latest developments in MEMS technology, microcontrollers, electrical energy accumulators and motors combined with cheaper costs have fomented a growing number of studies and designs of small UAVs such as quadrotors. This work shows development results of one of such projects and tries to collect its main theoretical and practical ascpets, while highlighting the modelling and controller synthesis. The work presents a complete strategy on how to design an advanced, structured flight controller for a quadrotor using an alternative control methods, while trying to document other related aspects of the project, such as quadrotor-specific AHRS algorithm issues, real-time control over wireless link and RPM measurement of BLDC motors by its controllers. Unlike the traditional approach of linearisation around some operating point, the work introduces an advanced singularity-free eigenaxis non-linear controller, cappable to handle large-scale maneuvers, such as flip-over.
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