The motors, propellers and body are built of Lego. Non-Lego elements are the battery, radio receiver and flight controller. Right after creating I fly this quadcopter indoors and outdoor. Delight in!
Drone specs:
Motors (4x): Lego L-motor [88003-1]
Propeller blades (8x): Lego Propeller 1 Blade 14L [89509]
Gearing: 1:1.67 gear-up for each individual rotor
Frame: Lego liftarms and other Lego pieces (look at 11:41 component list)
Flight controller: Matek F411-mini
Motor driver circuit (4x): MOSFET IRLR2905 + Schottky diode 1N5819 + Resistor 12 kOhm (search at 03:57 circuit diagram)
Radio receiver: FrSky R-XSR Micro 2.4GHz
Radio transmitter: FrSky X-Lite 2.4GHz
Battery: LiPo 9s 33.3V 200 mAh (made out of nine Turnigy nano-tech 200mAh 3.7V 35-70C Pico)
Fat with battery: 410 grams
Max thrust: 470 grams
Flight time: about 2 minutes
# methods
# Notice: go telemetry to transmitter (http://www.mateksys.com/?portfolio=f411-mini#tab-id-4)
source MOTOR 5 NONE
useful resource SERIAL_TX 11 B03
# aspect
characteristic -AIRMODE
# map
map TAER1234
# serial
serial 30 32 115200 57600 115200
# aux
aux 1700 2100
aux 1 1 1 900 1700
aux 2 28 1 1300 2100
aux 3 47 1 1700 2100
# grasp
established min_throttle = 700
set min_command =
set use_unsynced_pwm = OFF
set motor_pwm_protocol = OFF
set motor_pwm_charge = 480
established align_board_yaw = 135
established pid_process_denom = 16
set gyro_1_align_yaw = 1800
profile
# profile
established p_pitch = 200
established i_pitch =
established d_pitch =
set f_pitch =
established p_roll = 200
set i_roll =
set d_roll =
established f_roll =
set p_yaw = 60
established d_min_roll =
established d_min_pitch =
rateprofile
# rateprofile
set roll_rc_charge = 50
set pitch_rc_amount = 50
