I used the toy helicopter - WLtoys XK K120 (120mm Blades), with the Holybro KakutaF7mini, burned the ArduPilot Copter 4.0rc2 Heli FW, and added the ultra-small brushed ESC to drive the helicopter tail made up of the hollow cup 8250. After carefully reading the official Documentation, as well as patient debugging, finally succeeded in flying. I think the world’s smallest ArduPilot Helicopters
Below, I have provided some pictures and videos to share with everyone.
Matek M8Q-5883 GPS unless @zhangsir corrects me. Nice and small, 20x20mm board including mag, smallest I know of. One thing to like also are the thin and flexible silicon wires, compared to cables provided with most of the larger and no name equivalents. From an Ardupilot partner to boot.
The original battery 2s1p 300mAh flight time 5 minutes, the deputy factory 2s1p nominal 550mAh battery, flight time 7 minutes. For supported transmitters, see the receiver model you are using. The flight controller can directly input sbus or ppm.
The latest test video this morning, the outdoor temperature is -7 degrees Celsius, there is no wind, and the battery’s endurance is reduced, but it is enough to test the fully automatic flight mission (curve waypoint, do jump 3 times flight). The DVR image of the on-board FPV camera is shown in the video.