Team-blacksheep have very nice frame for DJI-NAZA with some fancy PDB, but I don't have NAZA and I wanted some modification to mount APM2/2.5, so here is my version of that frame, no fancy PDB and PCBs, just black fiberglass :)

If you do have DJI NAZA go get that frame right NOW !

 APM2.0 with 90° pins fits under the top plate with analog and telemetry pins exposed.

APM2.5 with ublox GPS.

Set the LED_MODE parameter to 9, It will slow blink when disarmed, solid armed, fast blink + beep on low battery.

The CG and the APM location moved a little bit, but it can fly as regular X quad. (don't pull back too much)

I just changed the AP_MotorsQuad.cpp X frame set-up to:



Motors: Tiger MS2212-13 980KV

ESC: jDrones 18A (Flashed with SimonK FW)

I really like the 10X5 Graupner e-props (or new Carbon 10X5 e-props) with 4S 3000mah lipo, after some fine-tuning its very sharp fly.

Here some raw clips from Arducopter 2.8.1 tuning flights:

BTW Jani from jDrones (that where I CNC all my custom frames ;) ) has put together fancy RTF kit, so check that one out.


The top outside hols for the arms are ~0.5mm off, I think so chek it before cuting.


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Comment by Isaac Sloan on January 22, 2013 at 5:57pm

It it necessary to change the code to get this frame to work or would it work with the default V quad settings?

Comment by Isaac Sloan on January 22, 2013 at 5:58pm

I'm thinking that this frame looks pretty impressive.

Comment by Max Levine on January 25, 2013 at 11:33am

@Isaac, you can use it with normal X quad settings.

Video of 2.9 on that frame, all default, in X quad mode, unbalanced epp props


Comment by Jani Hirvinen on January 29, 2013 at 8:38am

Normal 2.9 quad is working just fine with it and there is also alternative HEX file available on jDrones/jDoc site soon. We try to keep custom firmwares available for this frame.

Comment by Markus Horeld on February 14, 2013 at 7:39am

Perhaps I'm an idiot but I get quite different angles from my TBS Disco than 55° and 125°. Especially for the first value which is at my Disco around 70° (the second around 129°). I cannot measure it super accurat but I am sure that quite more than 55°. Strange...

Comment by Max Levine on March 1, 2013 at 3:08am

@Markus, the angles are for the center of APM as it mounted on the frame.

Comment by Markus Horeld on March 1, 2013 at 11:50am

Uh, I really am an idiot! I measured the angles between the arms and the longitudinal axis (the red line in your drawing). This is obviously wrong...

Comment by Remco on March 11, 2013 at 10:35am

I got about the same frame but want to fly it proper, is the maybe a custom firmware available for this setup?

Comment by Oyvind Amundsen on March 16, 2013 at 9:38am


Great frame, and thanks for sharing the dxf file.

I have modified the cp´s (hope that´s ok) so I can use 16mm carbone tubes and Mounts from

Have changed the holes to support MK style Controller, but that is simple to change back to APM2.X

In this image, I have used 25cm tubes.

I´ll share my dxf file, If anyone else want to test it/modifie it (send me a PM, I did not find a way to upload it here)

Comment by Markus Horeld on April 4, 2013 at 11:54am

For my TBS Discovery I changed the angles to this values: It flies well as you can see in my maiden flight video.

Do you guys know if the same result could have been achieved by manipulating the STB_RLL_I and STB_PIT_I settings (instead of set new angles). I am asking because the wiki says: "STB_RLL_I and STB_PIT_I are used to overcome imbalance in the copter. If the copter is not symmetrical this iterm will bring the copter to level." (However my TBS was not imbalanced before, and isn't it now.)


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