• Dmitry Turbiner.  Project Leader.  Join by contacting
  • Eli Wu
  • Gordon Sun
  • Patrick Kao
  • Russell Kao
  • Trent Lukaczyk 



  1. Build a quadcopter capable of 10g accelerations
  2. Build a quadcopter capable of 20g accelerations



1. Full Throttle Test (11/29/15)


2. First Flight.  Brief Full Power pump. (1/10/16)


3. Loiter capability (1/10/16)



1. Initial Dyno Tests (11/8/15)

For our first build we have selected the KDE2315Xf-2050kv motors along with a 6s power system.  The tests were performed on a homebrew thrust+torque meter designed and built by T. Lukaczyk and E. Wu.

Based on these measurements, using a 6×4.5 propeller:

  • 2.16 kg of thrust at 920 W P_in
  • The motor+ESC+prop weigh 64+23+3 = 90g.  Netting a power/weight ratio of 10.2 kW/kg.  And a thrust/weight ratio of 24.
  • According to our parts list, the complete quadcopter will weigh 1050g and generate 4×2.16 = 8.64 kg of thrust. Netting a power/weight ratio of 3.5 kW/kg. And an overall thrust/weight ratio of 8.2.

3 - XRotor 40A - KDE 2315 2050kv - HQ 6030

4 - XRotor 40A - KDE 2315 2050kv - Gemfan 6045


2. Construction (11/14/15 — 11/29/15)







separate PixHawk and power dist


3. Modifying the ESC firmware (12/1/15 — 1/4/16)

PROBLEM:   The quad couldn’t hover and toppled over the moment the motors turned on.  We traced the issue to the ESC not having enough resolution at the bottom power range in order for the flight control loops to work.

SOLUTION: Patrick Kao modified the BLheli firmware in order to implement a Piece-Wise-Linear Curve.  Patrick’s code is at

XRotor 40 with programming lead

ESC remap curve