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Project Icarus

A custom-built quadcopter designed to explore flight dynamics, control theory, and onboard automation — serving as a real-world testbed for simulation-validated algorithms.

PX4 · Pixhawk MAVSDK (Python / C++) PID Control Kalman Filter

Overview

Project Icarus is a custom-built quadcopter designed to explore flight dynamics, control theory, and onboard automation. The drone integrates a Pixhawk flight controller running PX4, custom power distribution, and telemetry logging through MAVSDK. It serves as a hands-on platform for testing real-time control algorithms, state estimation, and autonomous flight modes.

Media Gallery

Project Icarus quadcopter hardware build
Current hardware state.
Successful 4-motor bench test.

Current Progress

Currently sourcing a new functional flight controller to pair with the Raspberry Pi 4B. The previous flight controller had issues with its RAM chip — failing to store parameters correctly across power cycles.

Upcoming Goals

Integrate the Raspberry Pi with the new flight controller. Complete the first manual radio test flight to confirm hardware assembly and ESC calibration.

Technical Details

  • Flight Controller (Previous): Pixhawk running PX4 firmware
  • Companion Computer: Raspberry Pi 4B
  • Programming: MAVSDK (Python/C++), PID and Kalman filter implementation in progress
  • Hardware: Custom frame, 35A individual ESCs, FS-IA6B / FlySky FS-i6 radio, 2300 mAh 4S 75C LiPo battery, onboard sensors