Low cost quadcopter for 3D mapping and remote sensing

My little quadcopter

The components that I used are:

• ZMR250 Carbon Fiber Frame 250mm
• Naze32 rev6 10dof
• Matek Systems Power Distribution Board (PDB)
• Micro MinimOSD baord
• "BLACKBOX" Openlog Flight Data Recorder
• RS2205 2300KV Racing Edition Motor x4
• Motor Cover x4
• Littlebee 20A ESC EMAX x4
• 6045 2-Blade Propellers x4
• FPV RC832 Wireless Receiver boscam 32CH 5.8Ghz 600mW Audio/Video
• FPV Mini Digital CCD 700TVL
• Flysky FS-i6 6 Channel Radio Transmitter Receiver
• Mini Ublox 7 NZ GPS
• UTV007 USB Video Audio Converter

First I had 5045 3-Blade Propellers but I broke them in my first flight..

I have done some improvements lately..
I changed to 6045 2-Blade Propellers and to
FSiAB receiver

To have more channels I updated the transmitter's firmware to "10ch Timer Mod i6 Updater" (link:FlySky-i6-Mod) it has the ability to trasmit also the error to have RSSI signal.











Some tips
For the RSSI signal and more channels
You have to update the  FlySky transmitter firmware to "10ch Timer Mod i6 Updater" (link:FlySky-i6-Mod), than you have to set on your flysky transmitter one of the channels under "aux channels" to "error". And then set the RSSI channel in the receiver tab in cleanflight/betaflight accordingly.
Note the channels start from 1 and not from AUX1, for example first AUX channel is channel 5 for RSSI.
In OSD menu the "RSSI Min" set to 500
Have in mind that you can not have more channels with the the FS-iA6 you need the FS-iA6B or FS-iA10 always check with what receiver it is before you order the FlySky.
With the FS-iA6B and Naze32 you can have only 8 channels.

For OSD
I use the Micro MinimOSD baord with the scarab-osd (Link) software.

You have to uplod 2 times
You have to uncomment the board and the software that you use for me is:
..
#define MICROMINIMOSD
..
#define CLEANFLIGHT
..

To upload the fonts the first time you have to uncomment the
#define LOADFONT_DEFAULT
disable it the second time (Uncomment to force an upload of default font instead of using GUI)

For Failsafe
on TX set > System Setup > RX Setup > Failsafe
Channel 1 | ON | 0%
Channel 2 | ON | 0%
Channel 3 | ON | -100% // You can put it at 70% but test it first! you do not want it to go up..
Channel 4 | ON | 0%
Channel 5 | ON | -100% //first set Function Setup > Aux. channels. I have it to send the 'error' signal
Channel 6 | OFF |

Do not buy Naze32 go for SP Racing F3 or other new F4 FCs Naze32 is based on old designs.