Finally got around to building my first quadcopter after talking about it for way to long. Great experience, but of course it did take a lot of online research to gather all the necessary bits of information. I decided to collect that information on my website in the hopes that other budding UAV enthusiast could benefit from it. Anyway version 1 of the Raspberry Fly website is now online at and I thought you guys might like a peek. I’m very much looking forward to improving on the Fly and making it truly autonomous. Currently it is just about ready for autonomous takeoff, hover and landing. I guess the sky is the limit.

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Comment by Gary McCray on July 18, 2014 at 10:20am

Really excellent website Peder,

I will be providing a link to it from my web site and I am really looking forward to see what more you add to it.

This is an advanced project and you do an excellent job of explaining the important parts.

Excellent choice of the real ARF DJI F450 Flamewheel.

I have an F450 and an F330 and they are probably the perfect basis for this kind of project.

Thank You,


Comment by Phillip Schmidt on July 18, 2014 at 8:00pm

That's a very good start.  The one thing that stood out in my quick reading was that you don't mention high speed ESC updates (Most quads run at 200-490Hz signal to the ESCs).  

Comment by Phillip Schmidt on July 18, 2014 at 8:08pm

(oops accidentally bumped submit)

It is generally accepted that increasing the update rate from 50Hz to ~200Hz is a significant increase in stability, while increasing beyond that has diminishing returns.  As far as I know, there are no ESC's on the market that use duty cycle to determine output.  It always based on pulse length. Commonly this is ~1100us to ~1900us, but ESC calibration should be run on each speed control to make sure they all have the same end points set.

Comment by Hugues on July 19, 2014 at 1:00am

This is one of the best educative overview of drone principles that I have ever seen.

You succeed to explain very easily very complex matters. This shows how well you mastered and matured these topics.

Thank you!

Comment by Peder Raatz-Pedersen on July 19, 2014 at 2:19am

@Gary and Hugues: Thanks! :)

@Phillip: Good point. Just added a note clarifying the frequency part. Dutycycle was simply mentioned as a concept as part of the short PWM introduction. Good point regarding ESC calibration. It slipped my mind. Thanks! :)

Comment by Steve Gates on July 19, 2014 at 4:59am

I just wanted to emphasize that it is always worth to share your work, no matter how much information already exists on a particular subject. There are far to many great projects which were never documented properly. So thank you very much for this awesome guide for building a Raspberry-Copter!

Comment by Gary McCray on July 20, 2014 at 8:45pm

Hi Peder,

I have linked to both this blog and your site directly on my Drones Are Fun site here:

Best Regards,


Comment by Peder Raatz-Pedersen on July 21, 2014 at 2:35am

Hi Garry,

Cool! Thanks.

Great site :-)


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