• PlutoX
• 3D printed wheels and motor support
• 400 rpm brushed motors
• 600 mAh batteries

In this project I decided to use PlutoX drone due to it’s hardware modularity. Adding most structure is easier. For my project I needed something that will hold the wheels so that I    can use my drone as a rover.

Using this wheel support I can easily clip the motors for rover onto the frame

• If the PlutoX is DISARMED (i.e in the Rover mode)

• Check if it is Auto-Stabilized or not (AutoStablization helps the rover to maintain the direction with the help of Magnetometer )
• If it is Auto-Stabilized, indicate by turning on the Left LED, get the heading from Yaw angle.
• If not Auto-Stabilized, indicate by turning on the Right LED
• Get the RC input and perform error correction(Error correction - only if Auto-Stabilized)
• Set the direction and PWM input for motor M2 and M3
• Motor Direction

• Forward - M2 and M3 both forward
• Reverse  - M2 and M3 both reverse
• Right - M2 forward, M3 reverse
• Left - M2 reverse, M3 forward

• If the PlutoX is Armed it operates in Drone mode

Auto-Stabilization - Using smaller wheels in rover mode sometimes becomes a disadvantage as it gets difficult for the drone to move in a straight line/forward direction.

Auto-Stabilization uses the data from drones magnetometer and gets the yaw angle. Using this we can move the rover in straight line.

Github Link