I've been looking around for a cool frame and came across the X650 V4 frame from Xaircraft.

Before I ordered it from BDpowers I did some homework concerning were I would put all the hardware.

The frame has space for the ESC's just next to the motors so I wanted to be certain that my ESC's would fit. I managed to putin them in the tight space but using the X650 ESC covers wasn't possible. Putteing the ESC's under the props keep them very cool. Also the distance between motor and ESC is kept to aminimum. EMI from powerlines will also be reduced this way. I also looked at the center plate that would hold the APM and IMU. It fits nicely and all connectors are accessable. The folding arms of this frame was a bonus.

The current setup are :

KDA 20-22L

APC 10x4.7

Plush 30 A

Motor to motor is 60cm

Currently I'm doing tests with the latest v49 code and the first couple of flight (excl gps and sonar) were very promising.

I would like to upgrade to avroto motors 2814 and perhaps a bigger 11" prop.

Suggestions welcome.