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250 quadcopter, full build

by muellerr.ch on March 9, 2015

Table of Contents
250 quadcopter, full build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Intro: 250 quadcopter, full build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 1: Laser cut frame parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 2: Glue adaptors to base frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 3: Paint frame parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 4: 3d print motor mounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 5: Attach prop adaptors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 6: Mount rubber vibration isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 7: Attach motors to base frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 8: Connect esc's and attach to base frame with zip ties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 9: Install power distribution cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 10: Bolt flight controller to "clean" frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 11: Install fpv camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 12: Connect receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Step 13: Bolt hex spacers to frame, attach velcros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Step 14: Attach analog transmitter with zip ties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Step 15: Prepare esc's and connect to flight controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Step 16: Connect flight controller to computer, check motor rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Step 17: Conect camera and transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Step 18: Tidy up cabling mess, attach top plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Step 19: Mount props . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Step 20: Install mobius, lipo and lipo alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Step 21: Done! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Step 22: The files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

http://www.instructables.com/id/250-quadcopter-full-build/

Intro: 250 quadcopter, full build

a homemade 250 size quadcopter is not difficult to build. it just takes a bit of time to find and get he necessary components. The following components have been used in
this project:
4 motors, 2206-2150kv, baby beast, hobbyking
4 esc's, 12 amps, afro
1 receiver, frsky tfr6
1 flight controller, naze32, flashed with cleanflight
1 analog video transmitter with antenna, immersionrc
1 fpv camera, cmos mini, hobbyking
1 hd camera, mobius
1 lipo alarm
1 power distribution cable, hobbyking
1 lipo battery, 1400 mah
1 "dirty" frame, laser cut from 6 mm poplar plywood
1 "clean" frame bottom, laser cut from 2 mm birch plywood
1 "clean" frame top, laser cut from 2mm birch plywood
2 motor mounts top, motors 1 and 3, 3d printed
2 motor mounts top, motors 2 and 4, 3d printed
2 motor mounts bottom, motors 1 and 3, 3d printed
2 motor mounts bottom, motors 2 and 4, 3d printed
6 vibration damping ball, 80 g, hobbyking
6 hex spacers, 29 mm, hobbyking
12 bolts, m3 x 6 mm
12 bolts, m3 x 20 mm (3 per motor is enough)
4 bolts, m3 x 16 (nylon)
8 nuts, m3 (nylon)
4 lock nuts, m4
4 propellers, 5030
1 alpha gel, 30 x 30 x 5
1 alpha gel, 60 x 20 x 5
2 velcro straps
lots of zip ties

Step 1: Laser cut frame parts

the base frame has to be cut from 6 mm poplar plywood. the remaining frame parts are cut from 2 mm birch plywood. if you don't have a laser cutting machine just print
out the plans, glue them to the plywood and cut the frame parts with a fretsaw or a scroll saw.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 2: Glue adaptors to base frame

the 2 mm adaptors for the vibration isolator are glued to the base frame. this is necessary because the vibration isolator do not fit the 6 mm thick plywood.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 3: Paint frame parts

paint all frame parts so they are water-resistant. i like to use acrylic paint because the paint roller can be cleaned very easily with water.

Step 4: 3d print motor mounts

to improve flight stability angled motor mounts are supposedly helpful. they are not a requirement and some might even dispute their effectiveness. but they can be made
very easily by everyone who has access to a 3d printer.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 5: Attach prop adaptors

attach the prop mounts to the motors. in order to keep the bolts from loosening under the vibrations of the motors i always use a thread locker similar to loctite.

Step 6: Mount rubber vibration isolators

mount the rubber vibration isolators to the base frame (the dirty side, i.e. the side with the vibrations from the motors). i don't use any glue to secure them, they are just
held in place by a form fit.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 7: Attach motors to base frame

each motor is bolted to the base frame with three (to save the weight of the fourth) m3x20 bolts and the two pieces of the motor mounts. care must be taken when
orienting the motor mounts. the motor must be slanted towards the center of the base frame.

Step 8: Connect esc's and attach to base frame with zip ties
each esc's three adjacent connectors are connected to a motor. at this moment the rotation direction of the motors is arbitrary. this has to be checked later, when the
flight controller is being configured. the esc's are fastened to the base frame with zip ties through the predrilled holes.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 9: Install power distribution cable

the power distribution cable is connected to each esc and attached to the frame with a zip tie. the power cable of an immersion rc video transmitter can be directly
plugged to a special connector of the power distribution cable.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 10: Bolt flight controller to "clean" frame

the naze32 acro flight controller is bolted to the lower plate of the clean side of the frame with nylon bolts.

Step 11: Install fpv camera

the tiny fpv camera is attached to the frame with a zip tie. better check the orientation of the camera first.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 12: Connect receiver

the naze32 comes with a wire harness than makes it easy to connect it to the receiver.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 13: Bolt hex spacers to frame, attach velcros

the six hex spacers are bolted to the lower plate of the clean frame with m3x6 bolts.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 14: Attach analog transmitter with zip ties

mount the antenna to the video transmitter and fix the transmitter to the upper plate of the clean frame.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 15: Prepare esc's and connect to flight controller

remove the red wire from the jst connectors of three esc's. this might not be necessary for esc's with a linear bec. i would do it anyway. the wire can be removed by lifting
the little tab of the plastic connector casing while pulling on the cable. the freed connector has to be isolated with tape.
the connectors are then connected to the flight controller. see the naze32 documentation for detailed information.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 16: Connect flight controller to computer, check motor rotation

install the cleanflight configuration software and connect the flight controller to the computer via a micro usb cable. the configuration software allows calibration of the
esc's. additionally the rotation directions of the motors has to be checked. the rotation direction for a quadcopter is described in the naze32 documentation.
in case the rotation direction of a motor is found to be incorrect, simply swap two wires to the motor.
once the motor rotations are set, the bottom plate of the clean frame is connected with the bottom plate of the dirty frame with the rubber vibration isolators. this can be
tricky but a pair of pliers and a screw driver help a lot.

Step 17: Conect camera and transmitter

connect the camera and the power supply to the video transmitter.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 18: Tidy up cabling mess, attach top plate

there are lots and lots of cables from esc's, video and others that need to be secured away from the propellers. more zip ties and tape can be very helpful...
bolt the top plate of the clean frame to the bottom part.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 19: Mount props

mount a prop with correct rotation direction to each motor. in case all prop adapter have a right-hand thread use lock nuts to avoid loosing propellers in mid-air.

http://www.instructables.com/id/250-quadcopter-full-build/

Step 20: Install mobius, lipo and lipo alarm

strap the mobius camera to the top plate with a velcro strap. the separation of the dirty and the clean frame with vibration isolator eliminates already some vibration from
the motors. alpha gel around the mobius camera reduces vibration further.

Step 21: Done!

finally, we are done. charge your batteries and let's go test fly!

http://www.instructables.com/id/250-quadcopter-full-build/

Step 22: The files

here you find the stl-files for 3d printing, pdf and corel files for laser cutting and the full 3d model for creo elements express (free cad software from ptc).

File Downloads

250_Plates_2mm_Birch_Plywood.pdf (5 KB)
[NOTE: When saving, if you see .tmp as the file ext, rename it to '250_Plates_2mm_Birch_Plywood.pdf']

250_Plate_6mm_Poplar_Plywood.pdf (10 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to '250_Plate_6mm_Poplar_Plywood.pdf']

250_Plates_2mm_Birch_Plywood.cdr (20 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to '250_Plates_2mm_Birch_Plywood.cdr']

250_Plate_6mm_Poplar_Plywood.cdr (23 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to '250_Plate_6mm_Poplar_Plywood.cdr']

Motor_Mount_Bottom_1_4.stl (425 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Motor_Mount_Bottom_1_4.stl']

Motor_Mount_Bottom_2_3.stl (409 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Motor_Mount_Bottom_2_3.stl']

Motor_Mount_Top_2_3.stl (429 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Motor_Mount_Top_2_3.stl']

Motor_Mount_Top_1_4.stl (424 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Motor_Mount_Top_1_4.stl']

250_quadcopter.pk2 (1 MB)
[NOTE: When saving, if you see .tmp as the file ext, rename it to '250_quadcopter.pk2']

250_quadcopter.stl (24 MB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to '250_quadcopter.stl']

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Comments
49 comments Add Comment

nvasilev1 says:

Mar 15, 2015. 6:47 AM REPLY

Frames are available fo $16 made of fiber-Glass http://www.aliexpress.com/store/product/ZMR250-H25...
you can have Carbon fiber for a lill more it may be something you guys should consider, Flip32 is a $25 option that supports CleanFlight and have all the
sensors needed (Gyro, acceleration, barometer ect.)

muellerr.ch says:

Mar 15, 2015. 1:26 PM REPLY

Why even bother buying a $16 frame when you can watch flight videos on youtube for free?
I thought instructables is about creating things...

nvasilev1 says:

Mar 15, 2015. 2:24 PM REPLY

There enought creativity to be applyed in building the quad, but I appologize did not mean to undermine the instructable

EmmanuelC3 says:

Mar 16, 2015. 9:41 AM REPLY

I appreciate your link. Im just getting into this so $16 to have a backup frame is perfect for me.

faelenor says:

Mar 16, 2015. 4:36 AM REPLY

Yeah, but not everyone has access to a laser cutter and 3D printer!

muellerr.ch says:

Mar 16, 2015. 5:59 AM REPLY

True, but it's never too late to learn a new skill :-)

ldworkshop says:

Mar 16, 2015. 1:46 AM REPLY

Thanks for this great instructable !! Greatly detailed, pictures AND video ! nice job.
I'll try it some day for sure !!
Thanks again and congratulations for your awsome work.

muellerr.ch says:

Mar 16, 2015. 6:00 AM REPLY

Thanks, good luck for your build.

DARKHOURS says:

Mar 15, 2015. 8:23 AM REPLY

Great project Where did you pickup the clear props from ? l would like to put on my Qav250's.. I think I am going to try out your angle motor mounts looks
like great idea!
Thanks

muellerr.ch says:

Mar 15, 2015. 1:15 PM REPLY

I got them from Hobbyking, 4 pieces somewhere around $2.

DARKHOURS says:

Mar 15, 2015. 7:59 PM REPLY

Thanks think they be great for night flying

stupidityisanart says:

Mar 15, 2015. 6:37 AM REPLY

How much did it cost for the whole build?

muellerr.ch says:
without fpv and camera the quad
cost around $180 ($100 motors/esc's, $30 flight controller, $20
receiver, $12 lipo battery, $4 lipo alarm, $4 vibration damping balls,
$4 aluminum hex spacers).

http://www.instructables.com/id/250-quadcopter-full-build/

Mar 15, 2015. 1:31 PM REPLY

ari_sant says:

Mar 15, 2015. 6:25 AM REPLY

great works...nice

muellerr.ch says:

Mar 15, 2015. 1:14 PM REPLY

Thanks!

cyberdove says:

Mar 15, 2015. 4:37 AM REPLY

You're a fast worker. Want a job?

muellerr.ch says:

Mar 15, 2015. 1:13 PM REPLY

I know and I could have done it even faster :-)

nvasilev1 says:

Mar 15, 2015. 7:12 AM REPLY

Next step learn to fly https://www.youtube.com/watch?v=1MBW8zoZUR4

infinity.rps says:

Mar 14, 2015. 8:42 PM REPLY

what controls/sensors are used for the flight ? please elaborate . can Arduino uno be used for the flight controller ? if yes then how to make it ?

muellerr.ch says:

Mar 14, 2015. 11:26 PM REPLY

I use a naze32 flight controller board which has all the necessary sensors built in. The firmware used is Cleanflight. You could as well use an arduino
based flight controller. More information here:
http://www.multiwii.com/
I've used the multiwii's a lot in the past. But now I switched to the naze32 since it's so much easier to configure.

Electronics Circuits says:

Mar 12, 2015. 9:59 AM REPLY

Is it possible upload the 3D models? Love to make one.

muellerr.ch says:

Mar 12, 2015. 10:44 AM REPLY

Have you looked at step 22? That's where all the files are. Otherwise you can find them here:
http://www.thingiverse.com/thing:685288

Electronics Circuits says:

Mar 13, 2015. 7:20 PM REPLY

Thanks. Can't believe I missed that :) . Maybe the page didn't load fully.

sudu18 says:

Mar 12, 2015. 7:24 PM REPLY

what program is used in your quadcopter?

muellerr.ch says:

Mar 12, 2015. 9:19 PM REPLY

I use cleanflight.

Blue Hawaii says:

Mar 12, 2015. 9:26 AM REPLY

Great build. Try using a Neutral Density filter on the Mobius. That has helped me avoid the jello effect.

muellerr.ch says:

Mar 12, 2015. 10:43 AM REPLY

I've never tried that on the mobius but on my gopro. Fast transitions tended to be blurry though and on my 250 quadcopters flying is a constant fast
transitioning...

http://www.instructables.com/id/250-quadcopter-full-build/

sudu18 says:

Mar 12, 2015. 9:21 AM REPLY

with what you control the quadcopter?

phone or PC?

muellerr.ch says:

Mar 12, 2015. 10:40 AM REPLY

I use my standard rc controller from futaba (t8fg). But there are cheaper options like the taranis from frsky or the orangerx transmitter from hobbyking.

VikramA2 says:

Mar 11, 2015. 10:39 AM REPLY

very nice quadcopter !

is it possible for you to please send the laser cut frames and 3D printed parts now ?

muellerr.ch says:

Mar 11, 2015. 12:30 PM REPLY

thank you for your interest. I'm sorry but I cannot provide finished parts.

VikramA2 says:

Mar 11, 2015. 10:02 PM REPLY

I think you have mistaken me
Sorry
I was actually asking for the digital cut outs of the laser cut wood and for the 3D printed parts , as I am not sure with the measurements of the parts .
Thank you

muellerr.ch says:

Mar 12, 2015. 10:37 AM REPLY

You can find the files in step 22 or on thingiverse

http://www.thingiverse.com/thing:685288
if the link does not work try a search for muellerr_ch on thingiverse.

VikramA2 says:

Mar 12, 2015. 12:46 AM REPLY

i think you have mistaken me sorry i just wanted to know if you could send me the digital copy of the laser cut wood and the 3D printed parts as i do
not know the exact measurements of the parts thank you

StressTest says:

Mar 11, 2015. 12:06 PM REPLY

I do not see the files for this project, can they be posted somewhere else so we can all get them? Thanks.

muellerr.ch says:

Mar 11, 2015. 12:18 PM REPLY

I just uploaded the files (..._v2) to thingiverse in case there's a problem with the files:
http://www.thingiverse.com/thing:685288
I hope this helps.

StressTest says:

Mar 11, 2015. 6:23 PM REPLY

That link is dead and gives a 404 error....

muellerr.ch says:

Mar 12, 2015. 10:36 AM REPLY

Strange I've tried it with two different browsers and it works. Try a search for muellerr_ch on thingiverse. Have you also looked at step 22, that's
where all the files are.

mikeasaurus says:

Mar 10, 2015. 7:56 PM REPLY

Can you share the digital files for the laser cut frame and 3D printed parts?

muellerr.ch says:

Mar 11, 2015. 12:04 PM REPLY

my mistake, the files are now at the very end.

mikeasaurus says:
Great! Thank you!

http://www.instructables.com/id/250-quadcopter-full-build/

Mar 11, 2015. 12:32 PM REPLY

muellerr.ch says:

Mar 10, 2015. 9:35 PM REPLY

I did upload 2d files from corel draw (.cdr + .pdf files) and also the entire cad model from creo elements express. I don't know why they don't show up.

urmit says:

Mar 11, 2015. 10:38 AM REPLY

I do not see them either... and would like to use them. thank you for sharing!

slash359 says:

Mar 10, 2015. 3:32 PM REPLY

Like the clean and dirty setup

muellerr.ch says:

Mar 10, 2015. 9:51 PM REPLY

I've tried without the clean/dirty separation before but I always had a slight jello effect in the videos from the mobius camera, no matter how well the
props were balanced. I blame it on the motors that are a bit cheap and hard to balance.

craftguy says:

Mar 10, 2015. 5:26 PM REPLY

About how much did all of this cost?

muellerr.ch says:

Mar 10, 2015. 9:47 PM REPLY

without fpv system and camera the quad cost me around $180 ($100 motors and esc's, $30 flight controller, $20 receiver, $12 lipo battery, $4 lipo alarm,
$4 vibration damping balls, $4 aluminum hex spacers).
the mobius camera was around $70 and the fpv system on the quad was about $80 ($30 fpv camera, $50 immersionrc 25mw transmitter).
this sums up to a total of $330.

tomatoskins says:

Mar 10, 2015. 1:44 PM REPLY

That looks absolutely amazing! I'd love to see a video of it flying. I've always wanted a quadcopter, maybe I'll just need to sit down and get everything for
this!

muellerr.ch says:
Thanks. I'm working on the video.

http://www.instructables.com/id/250-quadcopter-full-build/

Mar 10, 2015. 9:32 PM REPLY