Acme Research Drone Airframe

A lot of questions have been asked as to possible ways to integrate the PX4FMU, PX4IOAR, PX4FLOW and the AR.Drone (either v1 or v2) I have tried to present one of the many possible configurations of the various devices to provide some ideas for further research and development.

PID Tuning

The controller gains provided here are just a starting point, please refer to the multirotor_pid_tuning page to learn how to tune your system


Download and import the following text file into QGroundControl for convenient parameter setting. Only the Acme Research Drone related parameters will be changed, all others, i.e. the Radio Control calibration, will remain unchanged.

File: -

# Onboard parameters for system MAV 001
1	50	MC_ATTRATE_AWU	          0.0500000007451	9
1	50	MC_ATTRATE_D	            0.20000000298	9
1	50	MC_ATTRATE_I	                        0	9
1	50	MC_ATTRATE_LIM	                      100	9
1	50	MC_ATTRATE_P	            0.10000000149	9
1	50	MC_ATT_AWU	          0.0500000007451	9
1	50	MC_ATT_D	            0.20000000298	9
1	50	MC_ATT_I	                        0	9
1	50	MC_ATT_LIM	                      100	9
1	50	MC_ATT_P	                       12	9
1	50	MC_ATT_XOFF	                        0	9
1	50	MC_ATT_YOFF	                        0	9
1	50	MC_POS_P	            0.20000000298	9
1	50	MC_YAWPOS_AWU	                        1	9
1	50	MC_YAWPOS_D	            0.10000000149	9
1	50	MC_YAWPOS_I	            0.15000000596	9
1	50	MC_YAWPOS_LIM	                       10	9
1	50	MC_YAWPOS_P	                        1	9
1	50	MC_YAWRATE_AWU	                        0	9
1	50	MC_YAWRATE_D	                        0	9
1	50	MC_YAWRATE_I	                        0	9
1	50	MC_YAWRATE_LIM	                        2	9
1	50	MC_YAWRATE_P	            0.15000000596	9

These parameters are only provided as a starting point, every system will require further fine tuning as each will have different payloads, centres of gravity, performance envelopes, etc.

Start Script

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Part List

These parts are required:

Initial Assembly

Please refer to for the initial assembly instructions for the PX4FMU / PX4IOAR / AR.Drone combination.


It was first necessary to remove the self adhesive metal strengthening plates, the front camera and the battery / AR.Drone FMU mounting assembly from the original body shell.

The excess front nose was cut off and the area where the ultrasonic sensor mounts onto the body was removed to enable the body shell to fit over the PX4FMU / PX4IOAR / AR.Drone central cross assembly.

Using a hot wire an area on the top read of the body was removed in preparation for the installation of the 3DR uBlox GPS module.

Again using a hot wire and hot knife the remaining part of the nose was prepared for the installation of the PX4FLOW module, extra EPP was removed where needed to enable access to the board's interface ports.

Final Integration

In order to strengthen the bodywork around the PX4FLOW lens area a layer of fiberglass tape was added and the PX4FLOW was mounted in position on the top of the body shell.

To provide some additional protection to the battery and to increase the rigidity of the EPP bodywork a hinged carbon fiber baseplate was added (the original one provided some protection but adds nothing in the way of rigidity). The radio receiver was then mounted on the outside of the body with self adhesive velcro (the super strength variety!).

Everything installed and ready for the first test flight…

First Flight


Additional Community Posted Configurations

Project Penguin's - No Jacket Required


Noth666's - AR.Drone 1 Body Version

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