This bachelor's thesis deals with the design, development, and implementation of a functional prototype of a quadcopter based on the Teensy 4.0 microcontroller. The aim of the work was to demonstrate the capabilities of this powerful microcontroller in managing complex tasks required for stable quadcopter flight. The work describes all key components of the aircraft, including the mechanical structure, the propulsion system, different sensor systems, and the quadrotor control unit. A mathematical model of the aircraft kinematics and dynamics was developed, which served as the basis for the simulation and implementation of the controller. Special emphasis was placed on the processing of sensor data using the Kalman filter, which was used to accurately estimate the dynamic variables of the aircraft, such as the orientation angle, altitud,e and vertical speed. The implemented system was tested by simulations and experimentally, confirming its functionality and effectiveness in flight stabilization.

Ovaj završni rad bavi se dizajnom, razvojem i implementacijom funkcionalnog prototipa kvadrokoptera temeljenog na mikrokontroleru Teensy 4.0. Cilj rada bio je demonstrirati mogućnosti ovog snažnog mikrokontrolera u upravljanju složenim zadacima potrebnim za stabilan let kvadrokoptera. U radu su opisane sve ključne komponente letjelice, uključujući mehaničku konstrukciju, pogonski sustav, senzorske sustave i upravljačku jedinicu. Razvijen je matematički model kinematike i dinamike letjelice, koji je poslužio kao osnova za simulaciju i implementaciju regulatora. Poseban naglasak stavljen je na obradu podataka senzora s pomoću Kalmanovog filtra, koji je korišten za preciznu procjenu dinamičkih varijabli letjelice, poput kuta orijentacije, visine i vertikalne brzine. Implementirani sustav testiran je simulacijama i eksperimentalno, čime su potvrđene njegove funkcionalnosti i učinkovitost u stabilizaciji leta.