Zephyr is a lightweight, durable, and versatile drone designed for stability, maneuverability, and various applications. With its minimalist and sleek design, Zephyr combines simplicity with functionality.

• Sturdy Build: Weighing approximately 500g, Zephyr is crafted with PET-G plastic, offering excellent resistance to impact and wear.
• Efficient Propulsion: Four arms equipped with brushless motors and two-blade propellers ensure maximum flight time and stability.
• Enhanced Capabilities: Designed for diverse use cases, from monitoring to autonomous operations.

• MPU-6050: 6-axis motion tracking device for acceleration and rotation.
• BMP-280: Barometric pressure sensor for altitude and temperature readings.
• nRF24L01: Wireless communication module (2.4GHz).
• Teensy Microcontroller: ARM Cortex-M based controller for sensor processing and motor control.
• ESP32-CAM: Camera module for WiFi-enabled streaming.
• Electronic Speed Controls (ESCs): Motor speed and direction control.
• Brushless Motors: Efficient propulsion system.
• LiPo Batteries: Power source for the drone.
• HX-3S-A02: LiPo battery protection circuit.

• Buzzer: Added for sound alerts (e.g., low battery, auto-landing, MCU issues).
• Power Supply Optimization:
  • Removed the LM2596 voltage regulator.
  • Powered components (BMP-280, nRF24L01) via Teensy 4.1’s 3.3V pin.
  • ESC’s 5V output powers most components directly.
• Voltage Monitoring:
  • Removed voltage divider due to inefficiencies with LiPo batteries under high load.
  • Exploring alternatives for battery capacity measurement.

• Sensor Integration:
  • MPU-6050 and BMP-280 provide flight data via the I2C protocol.
• Motor Control:
  • Teensy generates PWM signals to adjust motor speed via ESCs.
• Camera Feed:
  • ESP32-CAM transmits video to the ground station over WiFi.
• Remote Communication:
  • nRF24L01 enables real-time data exchange with the Ground Control Station (GCS).
• Power Management:
  • Stable power delivery from LiPo batteries with protection via HX-3S-A02.

The GCS operates with three roles:

1. Visual Operator:

   • Directly pilots the drone and maintains line of sight.
   • Ensures safety systems are active, in compliance with REQ-OPS-140.
   • UAV automatically lands if communication is lost (REQ-DES-040).

2. Remote Operators:

   • Monitor UAV telemetry, autonomous operations, and data streams.
   • Operate from a physical station connected to the UAV via a WiFi network (UDP protocol).