U ovome radu teorijski i praktično je prikazana bespilotna letjelica u 4-propelerskoj konfiguraciji te njihove primjene u razne svrhe. Nadalje je pokazana izrada makete i programiranje flight controllera letjelice. Osim toga prikazani su potrebni dijelov i izradu te njihove karakteristike i spajanje istih u funkcionalnu cjelinu. Pokazana je također implementacija upravljačkog algoritma na mikroupravljač, metoda Ziegler-Nichols-onova za pronalazak PID paramatera te korištenje nekih funkcija samog mikroupravljača kao što su prekidne rutine i timer-i za efikasnije programiranje istih.

In this work, a non-pilot aircraft in 4-propeller is presented theoretically and practically configuration and their application for various purposes. The design of the model and programming was further demonstrated flight controller aircraft. In addition, the required parts and design and their characteristics are shown and merging them into a functional whole. The management algorithm implementation was also shown to a microcontroller, the Ziegler-Nichols method for finding a PID paramator and using it some function of the microcontroller itself such as intermittent routines and timers for more efficient programming them.