Hi All,

I am a doctoral student and in my project I work on control theory. I want to build a simple quadcopter to test my algorithms on. I have an external camera system (motion capture system), similar to Vicon, to estimate the orientation and position of the quadcopter in space. Can anyone please tell me a simple "recipe" of quadcopter components (frame, flight controller, etc.) to put together so that I can build one? The firmware has to be open source because I may want to dive into low level control and it needs to be running ROS. I found a similar device off-the-shelf from Erle-robotics, but, I think I can build one myself relatively easily and choose advanced flight controllers like the pixhawk 2.

Thank you for your help,

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