My micro air vehicles are a hobby project. Everything is designed from scratch (software, hardware, electronics, frames). They perform very well in aerobatics ("acro mode"), but it can also hover on their own ("hover mode").
This project was started in 2008. The goal was to learn something about programming, electronics and control loops. Because I always need a cool project to learn new things, it was clear that something that can fly had to be built. The project started as a "tricopter-only" project, but as I wanted to build smaller vehicles with more payload capacity, I decided to make some quadrotor, hexacopter and Y6 hexacopter firmwares too. My main interest is to build very small MAVs that fly as good as larger ones (or even better) and that can be controlled by wireless video link. I also experimented with autonomous flight in GPS-denied areas (video), and with GPS assisted autonomous hover (video). -- William