This project was started in , electronics and control loops. Because I always need a cool project to learn new things, it was clear that something that can fly had to be built.
The project started as a "tricopter-only" project, but as I wanted to build smaller vehicles with more payload capacity, I decided to make some quadrotor, hexacopter and Y6 hexacopter firmwares too. My main interest is to build very small MAVs that fly as good as larger ones (or even better) and that can be controlled by wireless video link. I also experimented with autonomous flight in GPS-denied areas (video), and with GPS assisted autonomous hover (video).
-- William

Contact: Shrediquette @ g m x . d e --- All content published under CC Attribution-Noncommercial-Share Alike 3.0 Germany

Source code released!

Almost exactly one year after starting this project, I can finally release the source code of the tricopter. I translated the code to english (mainly variable names etc.) and added a lot of comments and explanations. I hope that you can understand the code, it is actually quite straight forward. Feel free to ask questions and give comments.
Source code:

PCB layout etc. will follow during the coming days.


  1. Is there code for the ESC's or a link on how to convert them?

  2. I added a link to an english manual for converting towerpro ESC's (see 'interesting links' on the right side). If you don't want to modify ESCs, you still have the possibility to buy I2C-ready ESC's at .

  3. Did you run into any issues trying to convert the esc's that you used?

  4. Converting the ESCs was not a problem. You have to have calm hands nevertheless, because the pins on the ESC controller are quite small. Although this was the first time I was soldering smd (and it worked out without any problems), I recommend some experience with soldering smd.

  5. Cool, Thanks, Do the esc's differ? like the Hobbyking Tower Pro W18A. Link -->

    Will this work, or should i be looking for the N18a's? not to sure on the differences.

  6. Even if the ESCs have the same name, sometimes the circuitry is different... I would try to buy the ESC that you find the "best" conversion instructions for. You can always ask for help at