本論文旨在研製一款四軸無人機系統，此四旋翼可以允許使用者在未學習專業遙控器情況下，使用電腦對無人機進行遠端控制，並以FPV鏡頭檢視其視角。
四旋翼主要機體架構為ZD550，並在加裝的電池架中安裝樹莓派、FPV鏡頭和FPV圖傳模組。
四旋翼以電腦Wi-Fi遠端控制的樹莓派進行操作，配合飛控板切換為offboard模式，此四旋翼將會完全由程式控制，讓使用者得以藉由電腦遠端控制四旋翼。
程式部分在ROS系統架構底下完成，其MAVROS軟體包提供能與飛控板溝通的通訊協定MAVLink的驅動程式。
在四旋翼起飛後，使用者可以手動輸入參數對四旋翼進行姿態控制，當輸入高度為0時，此四旋翼將會降落並退出程式。

This thesis develops a 4-axis unmanned aerial vehicles (UAVs) system. It allows users to control quadcopter remotely and manually without learning how to use transmitter.
The main structure of quadcopter is ZD550 and we retrofit a new battery holder for attaching Raspberry Pi, FPV camera and FPV transmitter to vehicle.
The quadcopter is operated by the Raspberry Pi which is remotely controlled by the computer via Wi-Fi. As the flight controller switched to the offboard mode, the quadcopter will be completely controlled by the program, allowing the user to remotely control the quadrotor by the computer.
The program part is completed under the ROS system architecture, and its MAVROS package provides a driver for the communication protocol MAVLink that can communicate with the flight control board.
After the quadcopter takes off, the user can manually input the parameters to control the position of the quadcopter. When the input height is 0, the quadcopter will land and exit the program.

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