Summary

103mm MicroWasp Quadcopter

This is another clone/remix of some quads already on thingiverse, with the biggest difference being the middleplate and fit for scisky.

Build with these parts :

1 x Scisky Flight Controller
4 x 8.5x20mm Coreless Brushed motors
4 x QR Ladybird Props
1 x FX758-2 5.8 GHz 200mW 32CH
1 x 170° Camera
1 x 5V Pololu step-up converter
1 x 5.8 GHz wire from a stock antenna
1 x Hubsan like battery cable (male)

Virtual Current Sensor for the Taranis and OpenTX
https://github.com/mickkn/VCS

Print Settings

Printer Brand:

RepRap

                                            Printer:                      
bq Hephestos Prusa I3

Rafts:

                                            Supports:                      
No

Resolution:

0.3mm

                                            Infill:                      
100%

Notes:

3+ perimeters is recommended and you will need to rotate it in your slicer

Changelog

06-JUL-2016

            First edition :
MicroWasp_MiddlePlate_v0_0_2
MicroWasp_TopPlate_v0_0_5
MicroWasp_Base_v0_0_2

PIDs

Using stock PIDs with Betaflight 3.0.0-RC4 (betaflight_3.0.0_MICROSCISKY.hex) is performing really well with 1 khz Gyro and 0.5 kHz PID Controller

My PIDs :
set p_pitch = 60
set i_pitch = 60
set d_pitch = 30
set p_roll = 45
set i_roll = 40
set d_roll = 25
set p_yaw = 80
set i_yaw = 45
set d_yaw = 20

My rates for doing flips with Super Expo :
set rc_rate = 120
set rc_rate_yaw = 100
set rc_expo = 10
set rc_yaw_expo = 10
set thr_mid = 64
set thr_expo = 0
set roll_rate = 80
set pitch_rate = 80
set yaw_rate = 70
set tpa_rate = 20
set tpa_breakpoint = 1650

Others:
set acc_lpf_hz = 15.000
set gyro_lpf = OFF
set deadband = 4
set min_throttle = 1100
feature AIRMODE
feature SUPEREXPO_RATES
set yaw_deadband = 4