YMFC-AL - Build your own self-leveling Arduino quadcopter - with schematic and code

The YMFC-AL is an auto-leveling Arduino Uno based quadcopter that is easy to build and fun to fly. Auto leveling means that, when you release the sticks the quadcopter levels itself. This makes it much easier to fly.

The YMFC-AL is not a high level flight controller. The purpose of the YMFC-AL is to provide a simple and understandable code that is needed to build an Arduino based auto-level quadcopter flight controller.

[darkonaire]

I've made a successful flight today after almost 2 months of figuring things out. I have no experience in drones whatsoever prior to this. The past weeks have been so frustrating attempting to fly drone as part of an objective in a grad school requirement. Thank you very much for this wonderful videos, its been frustrating yet fun experience..Thank you very much!

[vfThome]

Man, I'm doing eletronic engeneering at UFSC ( I'm from Brazil ) and as a project of my transducers class I tried to find a good project to build and create a YT video about it. So far I'm very exited about your tutorial and schematics, so thank you a lot for taking your precious time to create this great tutorial, It really is helping me a lot with understanding about Quad's.

[ccWaa]

I just finished my first test and it's flying. I'm super happy but I'm even happier to know that there are people who provide such documentation for such a great project, thanks a lot Joop, the real MVP on earth.

[syha]

Hi Mr.Joop, I have built and tested successfully my own Quadcopter using Arduino Mega. My model has many functions like auto-balanced, holding altitude, holding position, return home, autoFlight, and emergency return, ... I used this project for my Graduate thesis and now I was graduated.
Honestly, I want to thank you and give you a big respect for all knowledges you share.
Wishing you all the best!!

[danielschaben]

My High school Seniors in Arapahoe Nebraska built and flew this!!! It worked great, and was a great project. You did just enough (All) of the heavy lifting to keep it accessible to high school students with little programming background. Took us about a 6 weeks (30 classroom hours) with three students and myself to build and then debug it (Most of the time was finding the errors and fixing them). I gave students very little instruction and just let them build from your site and others. Great Experience!

[danielpereira]

Just finished my quadcopter and all I have to say is THANKS. it flies perfectly, followed this step by step and the result is amazing, i'm really happy right now. Congratulations for this series.

[tomWil]

Hi Joop,
I just finished building and flying my first quadcopter, YMFC-AL. It works beautifully!!! Thank you!

I would like to thank you for the sharing your knowledge!!! I was able to get up to speed very quickly on what I need to know e.g. Info about PID controllers, gyro/accelerometers, AVR embedded programming, transmitters/receivers, basic electronics and wiring, micro controllers, understanding spec sheets, bit-manipulation of registers, bitwise logical operators, your Arduino sketches, and quadcopters in general.

Wow what a project!!! Just phenomenal!!!

Thanks.

Thomas D. Wilhelm
Robotics Enthusiast

[itamakatz]

I do not normally like a video nor comment on it, but this sure does deserve adequate recognition. The maker did a very good job both in the software and with the documentation. Well done.

[pradhanparesh]

Thanks a lot Joop!!. I ran the setup program and below are the output for gyro configuration
Gyro calibration

Don't move the quadcopter!! Calibration starts in 3 seconds
Calibrating the gyro, this will take +/- 8 seconds
Please
Axis 1 offset=67.15
Axis 2 offset=-36.96
Axis 3 offset=-45.95


Gyro axes configuration

Lift the left side of the quadcopter to a 45 degree angle within 10 seconds
OK!
Angle detection = 2 (
Axis inverted = no
Put the quadcopter back in its original position
Move stick 'nose up' and back to center to continue


Lift the nose of the quadcopter to a 45 degree angle within 10 seconds
OK!
Angle detection = 1
Axis inverted = no
Put the quadcopter back in its original position
Move stick 'nose up' and back to center to continue


Rotate the nose of the quadcopter 45 degree to the right within 10 seconds
OK!
Angle detection = 3
Axis inverted = no
Put the quadcopter back in its original position
Move stick 'nose up' and back to center to continue


LED test

The LED should now be lit
Move stick 'nose up' and back to center to continue


Final setup check

Receiver channels ok
Gyro axes ok


Storing EEPROM information

Writing EEPROM
Done!
Verify EEPROM data
Verification done
Setup is finished.
You can now calibrate the esc's and upload the YMFC-AL code.

Can you please let me know gyro axes are Ok? In your video Angle detection is 1, 2 and 3 but in may case it is 2, 1 and 3. In your case Axis inverted - No, Yes and Yes but in my case all No. Let me know if the above setup output is correct for gyro configuration. Thanks in advance.

[danielschaben]

Worked for Arapahoe Public School in Nebraska!!! Thank you for sharing your code and Schematics! My students are standing on the shoulders of a giant for sure! Thank You!!!

[harshsparikh]

This was so well explained. Good Job Bro

[williamna]

This is a great idea. A quad that can be home built from very cheap parts and electronics. All the while giving step by step instructions in an easy to understand diy way for each and every step. Simply awesome. The only problem I can see is there may be a lot of new flyers banging quads into everything :D

[srivardhanmandapalli]

My quadcopter flies perfectly but after some time (around 1 to 2 min) suddenly all motors stop, it falls off and get crashed. All motors are rotating in correct direction and connections are perfectly soldered . What might be the reason for this sudden switch off. I read all Q/A and all comments but did not find solution for this

[prahladranjit]

Mr. Joop,
You are the best.You took some much pain to teach people.Because of you many can now realise their dream of making a drone.
Thank You

[fpvsparky]

Joop I have to thank you for these amazing tutorials, 2 months ago I had never even heard of an Adruino never mind ever flown a quadcopter. I have just finished building and learning to fly my very own Adruino based Quadcopter thanks to you! And you know what, it flies fantastically. Its been a doddle to make because of your intuitive videos and web site and I have loved doing it I really have, cheers mate. I do have one question though when I up the pid_i_gain_roll above 0.00 even by .01 it lurches/rolls to the right and I can't control it. Thank You for teaching me so much, I am going to go autonomous next..Ps doing this has kept me sane with all these coronavirus problems..Keep safe..

[rage_alpha]

Bro you are awesome with all your affords at this project we all viewers are able to make this happen I am a 13 year old boy from india created this quadcopter with all your codes . Thanks a lot bro. Big respect from me

[abualhassan]

Hi there, thank you so much for these very useful videos.
I have already built my quad-copter but when I try to do all setup I received this massage :

Final setup check

Receiver channel verification failed!!! (ERROR 6)
Gyro exes verification failed!!! (ERROR 7)
The setup is aborted due to an error.
and I checked on the Q and A page but I don't understand what are you mean on error 6 and 7 respectively?!
1)One stick is assigned to two functions
and
1)One axis is assigned to two functions.

Thanks,

[deepanchatterjee]

Will I be considered as adamant if I say 'man u did well'? I am an Electronics engineering student from India and I take freaking' interest in aerial vehicles. I love you sir Joop, God must be lucky enough to bless you! <3

[juanramirezjardua]

Hi Joop. Thanks for sharing your experience. I'm just starting in the drone world, but you've saved me a lot in the learning path. I'll use your concepts in my designs, and I'll use your lessons learned. What I got from your videos is that Arduino uno could be slow for managing receptor, sensors, motor control and the algorithms for navigation, so I'll try to start from the beginning with distributed processing and/or faster processors. Thanks again, Juan.

[akadihomabood]

Everything explained very well ....it is the best thing you did and never seen before, thanks so much .