Be Prepared… It seems that some new flight regulations are coming up in Germany which has less regulations when flying below 250g models.

Well, challenge accepted! Lets build a small and foldable Quad with an HD Cam that can fly for quite a while. 1306 Motors were harvested from the old leFlunder Quad and i finally found a usage for the 18650 cells i had lying around. This time i printed some parts of the frame and battery tray to get a bit more experience in 3d design.

<code> # dump

# version # INAV/SPRACINGF3EVO 1.5.1 Jan 5 2017 / 11:34:25 (556168d) # pflags # Persistent config flags: 0x00000000 # dump master

# mixer mixer QUADX mmix reset smix reset

# feature feature -RX_PPM feature -VBAT feature -UNUSED_1 feature -RX_SERIAL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -FAILSAFE feature -SONAR feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -UNUSED_2 feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -SOFTSPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature VBAT feature RX_SERIAL feature SERVO_TILT feature GPS feature FAILSAFE feature LED_STRIP feature PWM_OUTPUT_ENABLE

# beeper beeper GYRO_CALIBRATED beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACC_CALIBRATION beeper ACC_CALIBRATION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE

# map map AETR1234

# serial serial 20 1 115200 38400 0 115200 serial 0 0 115200 38400 0 115200 serial 1 2 115200 38400 0 115200 serial 2 64 115200 38400 0 115200

# led led 0 5,0::G:4 led 1 6,0::AW:4 led 2 7,0::AW:10 led 3 8,0::AW:10 led 4 9,0::AW:6 led 5 10,0::G:6 led 6 0,0::C:0 led 7 0,0::C:0 led 8 0,0::C:0 led 9 0,0::C:0 led 10 0,0::C:0 led 11 0,0::C:0 led 12 0,0::C:0 led 13 0,0::C:0 led 14 0,0::C:0 led 15 0,0::C:0 led 16 0,0::C:0 led 17 0,0::C:0 led 18 0,0::C:0 led 19 0,0::C:0 led 20 0,0::C:0 led 21 0,0::C:0 led 22 0,0::C:0 led 23 0,0::C:0 led 24 0,0::C:0 led 25 0,0::C:0 led 26 0,0::C:0 led 27 0,0::C:0 led 28 0,0::C:0 led 29 0,0::C:0 led 30 0,0::C:0 led 31 0,0::C:0

# color color 0 0,0,0 color 1 0,255,255 color 2 0,0,255 color 3 30,0,255 color 4 60,0,255 color 5 90,0,255 color 6 120,0,255 color 7 150,0,255 color 8 180,0,255 color 9 210,0,255 color 10 240,0,255 color 11 270,0,255 color 12 300,0,255 color 13 330,0,255 color 14 0,0,0 color 15 0,0,0

# mode_color mode_color 0 0 1 mode_color 0 1 11 mode_color 0 2 2 mode_color 0 3 13 mode_color 0 4 10 mode_color 0 5 3 mode_color 1 0 5 mode_color 1 1 11 mode_color 1 2 3 mode_color 1 3 13 mode_color 1 4 10 mode_color 1 5 3 mode_color 2 0 10 mode_color 2 1 11 mode_color 2 2 4 mode_color 2 3 13 mode_color 2 4 10 mode_color 2 5 3 mode_color 3 0 8 mode_color 3 1 11 mode_color 3 2 4 mode_color 3 3 13 mode_color 3 4 10 mode_color 3 5 3 mode_color 4 0 7 mode_color 4 1 11 mode_color 4 2 3 mode_color 4 3 13 mode_color 4 4 10 mode_color 4 5 3 mode_color 5 0 9 mode_color 5 1 11 mode_color 5 2 2 mode_color 5 3 13 mode_color 5 4 10 mode_color 5 5 3 mode_color 6 0 9 mode_color 6 1 6 mode_color 6 2 1 mode_color 6 3 0 mode_color 6 4 0 mode_color 6 5 2 mode_color 6 6 3 mode_color 6 7 6 mode_color 6 8 0 mode_color 6 9 0 mode_color 6 10 0

set looptime = 2000 set i2c_overclock = OFF set gyro_sync = OFF set gyro_sync_denom = 2 set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 16 set rssi_scale = 30 set rssi_ppm_invert = OFF set rc_smoothing = ON set input_filtering_mode = OFF set min_throttle = 1157 set max_throttle = 1850 set min_command = 1000 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 1000 set motor_pwm_rate = 1000 set motor_pwm_protocol = ONESHOT125 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 5 set small_angle = 25 set reboot_character = 82 set gps_provider = UBLOX set gps_sbas_mode = NONE set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set inav_auto_mag_decl = ON set inav_accz_unarmedcal = ON set inav_use_gps_velned = ON set inav_gps_delay = 200 set inav_gps_min_sats = 6 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.500 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = OFF set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_max_speed = 300 set nav_max_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_rth_climb_first = ON set nav_rth_tail_first = OFF set nav_rth_alt_mode = AT_LEAST set nav_rth_altitude = 1000 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 20 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_roll2pitch = 75 set nav_fw_loiter_radius = 5000 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1700 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_timeout = 5000 set nav_fw_launch_climb_angle = 10 set serialrx_provider = SBUS set spektrum_sat_bind = 0 set telemetry_switch = OFF set telemetry_inversion = ON set frsky_default_lattitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = IMPERIAL set frsky_vfas_precision = 0 set frsky_vfas_cell_voltage = OFF set hott_alarm_sound_interval = 5 set smartport_uart_unidir = OFF set battery_capacity = 0 set vbat_scale = 110 set vbat_max_cell_voltage = 43 set vbat_min_cell_voltage = 31 set vbat_warning_cell_voltage = 33 set current_meter_scale = 400 set current_meter_offset = 0 set multiwii_current_meter_output = OFF set current_meter_type = ADC set align_gyro = DEFAULT set align_acc = DEFAULT set align_mag = DEFAULT set align_board_roll = 8 set align_board_pitch = -16 set align_board_yaw = 1800 set gyro_lpf = 42HZ set moron_threshold = 32 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set tri_unarmed_servo = ON set servo_lowpass_freq = 400 set servo_lowpass_enable = OFF set servo_center_pulse = 1500 set servo_pwm_rate = 50 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = SET-THR set rx_min_usec = 885 set rx_max_usec = 2115 set acc_hardware = MPU6500 set baro_use_median_filter = ON set baro_hardware = BMP280 set mag_hardware = AK8963 set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SERIAL set magzero_x = -204 set magzero_y = 150 set magzero_z = 68 set acczero_x = 137 set acczero_y = 99 set acczero_z = 33 set ledstrip_visual_beeper = OFF set accgain_x = 4090 set accgain_y = 4090 set accgain_z = 4026

# rxfail rxfail 0 a rxfail 1 a rxfail 2 a rxfail 3 h rxfail 4 h rxfail 5 h rxfail 6 h rxfail 7 h rxfail 8 h rxfail 9 h rxfail 10 h rxfail 11 h rxfail 12 h rxfail 13 h rxfail 14 h rxfail 15 h rxfail 16 h rxfail 17 h

# dump profile

# profile profile 0

# aux aux 0 0 1 1700 2100 aux 1 1 0 900 1300 aux 2 2 0 1300 1700 aux 3 3 3 1300 2100 aux 4 9 3 1700 2100 aux 5 11 4 1700 2100 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

# adjrange adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

# rxrange rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

# servo servo 0 1000 2000 1500 90 90 100 -1 servo 1 1000 2000 1500 90 90 100 6 servo 2 1000 2000 1500 90 90 100 -1 servo 3 1000 2000 1500 90 90 100 -1 servo 4 1000 2000 1500 90 90 100 -1 servo 5 1000 2000 1500 90 90 100 -1 servo 6 1000 2000 1500 90 90 100 -1 servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 50 set nav_alt_i = 0 set nav_alt_d = 0 set nav_vel_p = 100 set nav_vel_i = 50 set nav_vel_d = 10 set nav_pos_p = 65 set nav_pos_i = 120 set nav_pos_d = 10 set nav_posr_p = 180 set nav_posr_i = 15 set nav_posr_d = 100 set nav_navr_p = 10 set nav_navr_i = 5 set nav_navr_d = 8 set deadband = 5 set yaw_deadband = 5 set throttle_tilt_comp_str = 0 set flaperon_throw_offset = 250 set flaperon_throw_inverted = OFF set gimbal_mode = NORMAL set fw_iterm_throw_limit = 165 set mode_range_logic_operator = OR set default_rate_profile = 0 set mag_declination = 0 set mag_hold_rate_limit = 90 set p_pitch = 40 set i_pitch = 30 set d_pitch = 23 set p_roll = 40 set i_roll = 30 set d_roll = 23 set p_yaw = 85 set i_yaw = 45 set d_yaw = 0 set p_level = 20 set i_level = 15 set d_level = 75 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 300 set gyro_soft_lpf_hz = 60 set acc_soft_lpf_hz = 15 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set yaw_p_limit = 300 set iterm_ignore_threshold = 200 set yaw_iterm_ignore_threshold = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000

# dump rates

# rateprofile rateprofile 0

set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 20 set pitch_rate = 20 set yaw_rate = 20 set tpa_rate = 0 set tpa_breakpoint = 1500 <code>