Indoor fun with a tiny ArduCopter quadcopter

Do you have an Ardupilot Mega and shield and want some fun for little money? check this tiny quad... my last drone in family...

Some specs:
- Size : 26.5cm (10.4 inches) from motor to motor
- Motors : 18-11 200kv 10 gram motors
- Props : 4x2.5 (standard CCW props)
- ESCs : Turnigy 6A
- Battery : 3S610 (or 3S800)
- Sonar : Maxbotics LV-EZ0 [optional]

The nice part about this frame is that it use standard kite parts, so it´s very easy to construct and it´s perfect for some radical tests.
Itried to find a bit different design that also make the quad less simmetrical (it´s very easy to loss the orientation with a quad) and I wanted to do as small as posible to flight indoors...
At this size and weight it´s very safe and robust also. The props use prop savers and this help a lot in crashes...
I am not very good writing... so I took a lot of photos during the build phase and I created a build log:

This code supports a sonar for altitude hold and also has a battery alarm (2 alarms).
Thisquad works with ArduCopter code, but because how main board is mounted, actual code doesn´t work. This is the code that I used with this quad :
(as zip format: )
note that this will be integrated on main Arducopter code. Now is temporarily in a branch.
ThePID gains are different than in standard ArduCopter, so you need to Initialize EEPROM on Configurator or put this ones manually:
-Stable mode: P : 4.8 ; I : 0.12 ; P_rate (D in configurator) : 0.4 ; Yaw : (4.5 ,0.15 ,2.8 )
-Acrobatic mode : P : 0.75 ; I : 0.1 ; D : 0 ; Yaw : (2.4 ,0.2 ,0 )

OK, but was all so perfect like in the video? I don´t believe that...
Yes, you are right, but fortunately this design is very crash resistance... and this part is also fun...

After all this battles I only needed a few drops of ciano in the crash with the lamppost :-)

What´s the real size?

On center, standard arducopter frame, on left, old ArduIMU quadcopter part III, on right-top this project.

And what about the automatic aerobatics on video?
I am starting to test a new function to do automatic aerobatics (Automatic Aerobatic Procedure). The idea is that you enable this function with a switch in the Tx to make an automatic predefined aerobatic and then automatically recover to a stable mode.
Thisis actually a proof of concept but works very nice. One limit here is the maximun rate of the gyros, in our case 500deg/s. If we exceed this, the IMU get confused...
An interesting point to note is that the IMU doesn´t loose the orientation in this hard movements...
Thestory is that I have never feel too much confidence doing flips manually with quads. Then I start thinking that with an automatic code we can get a precise timing and controled movement so maybe this could help to do better aerobatics. I started testing this function outdoor, on an open field but I was improving the code and got more tightly maneuvers, so tight, that I ended up doing flips with a quad inside my room!!!

Here is the code I was testing : (AAP function:
AAP.txt )
I implemented this functionality as a state machine where there are three kind of states:
- fixed commands for a limited period of time. (example : Apply a throttle command)
- fixed commands until we reach some IMU state (example : roll until we reach a certain angle)
- And a mix between this categories and a control (example : Throttle command + stable mode on roll, pitch, yaw)
There are many things to test and improve here but the basic concept works very nice...

If I can get a bit of help from a friend, I will probably made a carbon fuselage for this prototype...

Enjoy this “Science & Fun” mix...

Jose Julio.
Arducopter Team
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  • I can't find the size anywhere.

  • No but the park motors MAY. be sure to check their base shaft size.

  • What's the difference between the A1510 and the Turnigy Park250?

    Would either of these motors fit like the 18-11 2000kv 10g in the 6mm hole on the kite connectors?

  • Hi Brian,

    Look at the QuadPod Kit from . I added a second platform to the QuadPod to have enough place for installing APM 2, XBee and GPS. I used the delivered Motors and ESCs for the rest. It flies with a weight of a about 320 g. Perhaps this kit cout be a good starting point for your project.


  • If you want to be sure it'll hold 350g the A1510 motors make TONS of power on 3s.

  • I'm thinking of making something like that but weighing 350g. Do you think those motors can hold?

    I'm going to try and put a raspberry pi and a small taken apart webcam on it. Balancing and control would be performed by a arduino nano.

  • Hi Jan,

    I am very interested in your frame, motors and props! Is your offer still ok?


    Hans Jakob

  • What PID values are best for this microquad with 2.0.50? I'm using normal and reverse props instead of tilting and am using 800mAh 3S. I've tried the values in the blog here but it's still quickly osscilates back and forth on the roll axis. I'm using same motors and esc as Jose.


  • this is the route I am taking - MiniQuad

    BlueSkyRC -- Now Closed
  • Folks, for those interested in building one of these mini quads, I have some hardware available for sale in the Buy/Sell/Trade forum.

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