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We describe our experience teaching an intensive capstone course in whichpairs of students build the hardware and software for a remote-controllerquad-rotor aircraft (i.e., a quadcopter or "drone") from scratch in one 10-weekquarter. The course covers printed circuit board (PCB) design and assembly,basic control theory and sensor fusion, and embedded systems programming. Toreduce the workload on course staff and provide higher-quality feedback onstudent designs, we have implemented an automated PCB design checkingtool/autograder. We describe the course content in detail, identify thechallenges it presents to students and course staff, and propose changes tofurther increase student success and improve the scalability of the course.

Trial by Flyer: Building Quadcopters From Scratch in a Ten-Week Capstone Course