I am a novice in model aircraft. Around November last year, I became fascinated with quadcopters and often watched flight videos on MK’s website. The stability of quadcopters is fantastic, and they are simply amazing. Eventually, I couldn’t resist the temptation and impulsively decided to build one myself for fun. I gathered information online and started from scratch. After a few months of ups and downs, I have gradually completed the brushless ESC, quadcopter frame, multi-channel modification of the remote controller, IMU module, and the design and production of the flight control board. Now that I have made some progress, I want to share it with everyone for exchange and improvement. Due to my limited skills, I am only familiar with and use the 51 architecture MCU, and all system modules are based on the C8051F. However, the principles and control theories involved in quadcopters are the same. I hope fellow enthusiasts will generously offer guidance. Thank you!!! 1. Two hard drives bought from a flea market.
2. After much effort, I finally modified a screwdriver used for disassembling mobile phones to get it done.
Next, I plan to use the existing electric tail tube and socket along with hard drive pieces to construct the frame. The motors will be new Xida 2212 KV930, with two clockwise and two counterclockwise propellers from the well-reviewed German EPP1045.
3. Fixing the electric tail tube’s socket, which is quite expensive.
4. A photo with the motor and tail tube I received.
5. Four motor mounting brackets machined externally.
6. The main part of the body is completed.
7. A handy tool for processing the frame, a desktop mini drill.
8. EPP1045.
9. One clockwise and one counterclockwise.
To improve posting efficiency, I will skip the production process and let the pictures speak for themselves.
10. Comparison with a propeller that costs 3 yuan in the market 
11. Fixed the two-blade propellers with the motor’s original propeller protector.
12. Soldered on the banana plugs; it feels quite heavy. Took a picture before disassembly.
13. Motor installation fixing method.
14. Overall structure of the frame.
15. A level view, looking quite stylish.
16. Finished appearance of the whole machine.
Alright, the frame is complete. Next is the modification of the remote controller. I bought a cheap and large FT06-C, planning to upgrade it from 6 channels to 8 channels, adding two proportional channels and equipping it with an LCD screen to display relevant parameters. I will keep the high-frequency head of the controller and replace the entire PPM encoding board.
17. Preparing to modify the TianDiFei 6C controller.
18. Internal structure of the FT06-C.
19. Adding an LCD screen at this position.
20. The sample I received back; this way saves money.
21. The hook knife specially bought for cutting the board.
22. After spending more than an hour, it’s done!
23. Remove the original PPM board from the FT06-C controller.
24. Comparing positions, very precise.
25. This position on the FT06-C is just right for a 5110 screen.
26. The PCB board of the LCD screen.
27. Expected effect.
28. PPM control board soldering completed.
29. Looking at the back. The bottom power wiring was misplaced during factory board production.
30. The newly received 5110 LCD screen.
31. Did not pay attention while wiring, reversed the direction of the LCD.
32. The LCD screen lights up successfully.
33. How does it look?
34. Installing the potentiometer on the right side.
35. The right side.
36. Installing the potentiometer on the left side.
37. The left side.
38. Wiring for the LCD and potentiometer.
39. The two added potentiometers.
40. Appearance of the installed knobs.
41. Height of the added potentiometer knobs.
42. Engineering mode, calibrating the joystick neutral point.
43. During operation, displaying the effective values of the first six channels of PPM.
44. PPM waveform measured from the receiver output for 8 channels.
45. Test flying in G3.5.
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