MultiWii

Naze32 Micro KeyChain Cam Copter

Frame 150mm (mot.-mot.):
8 x CFK d=2mm, l=250mm + some extra (RX holder ...),
1 x CFK plate 0,7mm 55 x 55mm (you can cut it with a jigsaw, ear protection + many spare blades needed ),
8 x pinewood 4x4mm l=50mm (painted black),
8 x endcaps 6mm (from kiteshop),
M3 nylon spacers + screws,
many cable ties 100x2,5mm, 1 x 150mm ...

Components:
Naze32 FC ( http://www.abusemark.com/store/ )
TURNIGY Plush 6A /.8bec/6g Speed Controller
HobbyKing 1612 Brushless Outrunner 3200KV
5030 Propellers
Turnigy nano-tech 850mah 2S 25~40C Lipo Pack
DSM2 6Ch 2.4Ghz RX
HXT Lipo Monitor (3S, mounted unter RX, = taillight)
Turnigy KeyChain Camera 640x480 30fps

tow: lipo 2s 800mAh: 196g, 2s 850mAh: 202g

Note: this combination is flight tested, the copter flies sensational.

Video: Micro Naze32 meets Johann Strauss http://youtu.be/mJnBRIUFS08

Someone asked for my setup in the vid ...

# version
Afro32 CLI version 2.0 Sep 8 2012 / 17:00:09
# features
Enabled features: VBAT MOTOR_STOP

# map
Current assignment: AETR1234

# mixer
Current mixer: QUADX

# set
Current settings:
deadband = 0
yawdeadband = 0
alt_hold_throttle_neutral = 20
midrc = 1450
minthrottle = 1150
maxthrottle = 1850
mincommand = 1000
mincheck = 1100
maxcheck = 1900
retarded_arm = 0
failsafe_delay = 10
failsafe_off_delay = 200
failsafe_throttle = 1200
motor_pwm_rate = 400
servo_pwm_rate = 50
serial_baudrate = 115200
gps_baudrate = 19200
spektrum_hires = 0
vbatscale = 110
vbatmaxcellvoltage = 43
vbatmincellvoltage = 33
yaw_direction = 1
tri_yaw_middle = 1500
tri_yaw_min = 1020
tri_yaw_max = 2000
gimbal_flags = 1
gimbal_pitch_gain = 10
gimbal_roll_gain = 10
gimbal_pitch_min = 1020
gimbal_pitch_max = 2000
gimbal_pitch_mid = 1500
gimbal_roll_min = 1020
gimbal_roll_max = 2000
gimbal_roll_mid = 1500
acc_hardware = 0
acc_lpf_factor = 4
gyro_lpf = 42
gyro_cmpf_factor = 400
mpu6050_scale = 1
mag_declination = 0
gps_type = 1
gps_pos_p = 11
gps_pos_i = 0
gps_pos_d = 0
gps_posr_p = 20
gps_posr_i = 8
gps_posr_d = 4
gps_nav_p = 14
gps_nav_i = 20
gps_nav_d = 8
gps_wp_radius = 200
nav_controls_heading = 1
nav_speed_min = 100
nav_speed_max = 300
nav_slew_rate = 30
looptime = 0
p_pitch = 16
i_pitch = 30
d_pitch = 23
p_roll = 16
i_roll = 30
d_roll = 23
p_yaw = 35
i_yaw = 45
d_yaw = 0
p_alt = 16
i_alt = 15
d_alt = 7
p_level = 50
i_level = 10
d_level = 20

#

Thanks LeoWie that was me on the tube.