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Features

• Dedicated for education and research.
• Made from general-purpose components.
• Simple and clean source code in Arduino (<2k lines firmware).
• Connectivity using Wi-Fi and MAVLink protocol.
• Control using USB gamepad, remote control or smartphone.
• Wireless command line interface and analyzing.
• Precise simulation with Gazebo.
• Python library for scripting and automatic flights.
• Textbook on flight control theory and practice (in development).
• Position control (planned).

It actually flies

See detailed demo video: https://youtu.be/hT46CZ1CgC4.

Version 0 demo video: https://youtu.be/8GzzIQ3C6DQ.

Usage in education (RoboCamp): https://youtu.be/Wd3yaorjTx0.

See the user builds gallery:

Simulation

The simulator is implemented using Gazebo and runs the original Arduino code:

Documentation articles

1. Assembly instructions.
2. Usage: build, setup and flight.
3. Simulation.
4. Python library.

Additional articles:

• User builds gallery.
• Firmware architectural overview.
• Troubleshooting.
• Log analysis.

Components

Type	Part	Image	Quantity
Microcontroller board	ESP32 Mini		1
IMU (and barometer¹) board	GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)ICM20948V2 (ICM‑20948)³GY-521 (MPU-6050)³⁻¹		1
Boost converter (optional, for more stable power supply)	5V output		1
Motor	8520 3.7V brushed motor.Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).Make sure the motor shaft diameter and propeller hole diameter match!		4
Propeller	55 mm or 65 mm		4
MOSFET (transistor)	100N03A or analog		4
Pull-down resistorVoltage measurement resistor	10 kΩ		6
3.7V Li-Po battery	LW 952540 (or any compatible by the size).Make sure the battery has enough discharge rate — 25C or more!		1
Battery connector cable	MX2.0 2P female		1
Li-Po Battery charger	Any		1
Screws for IMU board mounting	M3x5		2
Screws for frame assembly	M1.4x5		4
Frame main part	3D printed²: stl stepRecommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.		1
Frame top part

¹ — barometer is not used for now. ² — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified. ³ — you also may use any transmitter-receiver pair with SBUS interface.

Tools required for assembly:

• 3D printer.
• Soldering iron.
• Solder wire (with flux).
• Screwdrivers.
• Multimeter.

Feel free to modify the design and or code, and create your own improved versions. Send your results to the official Telegram chat, or directly to the author (E-mail, Telegram).

Schematics

Simplified connection diagram

(Dashed elements are optional).

Motor connection scheme:

You can see a user-contributed variant of complete circuit diagram of the drone.

Notes

• Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.

• Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:

  IMU pin	ESP32 pin
  GND	GND
  3.3V	3.3V
  SCL (SCK)	SVP (GPIO18)
  SDA (MOSI)	GPIO23
  SAO (MISO)	GPIO19
  NCS	GPIO5

• Solder pull-down resistors to the MOSFETs.

• Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:

  Motor	Position	Direction	Prop type	Motor wires	GPIO
  Motor 0	Rear left	Counter-clockwise	B	Black & White	GPIO12 (TDI)
  Motor 1	Rear right	Clockwise	A	Blue & Red	GPIO13 (TCK)
  Motor 2	Front right	Counter-clockwise	B	Black & White	GPIO14 (TMS)
  Motor 3	Front left	Clockwise	A	Blue & Red	GPIO15 (TD0)

  Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller). Counter-clockwise motors have black & white wires correspond to propeller type B.

• Optionally connect the RC receiver to the ESP32's UART2:

  Receiver pin	ESP32 pin
  GND	GND
  VIN	VCC (or 3.3V depending on the receiver)
  Signal (TX)	GPIO4¹

  ¹ — UART2 RX pin was changed to GPIO4 in Arduino ESP32 core 3.0.

• Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. on ESP32, on ESP32S3).

Resources

• Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
• Official Telegram chat: https://t.me/opensourcequadcopterchat.
• Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.

Disclaimer

This is a DIY project, and I hope you find it interesting and useful. However, it's not easy to assemble and set up, and it's provided "as is" without any warranties. There's no guarantee that it will work perfectly, or even work at all.

⚠️ The author is not responsible for any damage, injury, or loss resulting from the use of this project. Use at your own risk!