# Micro Quadrotor Parts Selection **URL:** \ **Category:** PX4 Autopilot\ **Created:** [March 17, 2017, 1:43pm UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791 "2017-03-17T13:43:24Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![RobQ](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/57b2e6/32.png) [@RobQ](https://discuss.px4.io/u/RobQ)\ **Post date:** [March 17, 2017, 1:43pm UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/1 "2017-03-17T13:43:24Z")
Hello. I wanna build my first micro quadrotors which can be used to design a multi-robot system to carry out a load cooperatively. Each micro quadrotor should able to have a continuous flight time of 10 or 20 mins; the dimension of each micro quadrotor must be at most 10 by 10 cm. Now my question are: 1- Is PX4 Pixhawk Lite is suitable as the autopilot? If not could you please suggest another autopilot? 2- What type of motors are more proper for a micro quadrotor? Coreless or Brushless? and Which manufacture? 3- Any suggestion on battery? Thank you in advance. ---
**Author:** ![rolandash](https://discuss.px4.io/user_avatar/discuss.px4.io/rolandash/32/4936_2.png) [@rolandash](https://discuss.px4.io/u/rolandash)\ **Post date:** [March 19, 2017, 4:37am UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/2 "2017-03-19T04:37:34Z")
You can have a look at [MindRacer](http://discuss.px4.io/t/yet-another-racer-in-px4-family-mindracer/1908/26) and [this link](http://discuss.px4.io/t/nanomind-110-kit-tiny-whoop-running-px4-for-indoor-fpv-racing/2754/4). It is designed for this kind of application. ---
**Author:** ![RobQ](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/57b2e6/32.png) [@RobQ](https://discuss.px4.io/u/RobQ)\ **Post date:** [March 19, 2017, 5:39am UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/3 "2017-03-19T05:39:00Z")
Thank you for answer. Does NanoMind110 can autonomously take off and hold its position at a per-specified height? Is there any source code for this task or is it possible to program it easily for autonomous tasks? ---
**Author:** ![rolandash](https://discuss.px4.io/user_avatar/discuss.px4.io/rolandash/32/4936_2.png) [@rolandash](https://discuss.px4.io/u/rolandash)\ **Post date:** [March 19, 2017, 6:48am UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/4 "2017-03-19T06:48:41Z")
NanoMind runs full PX4 stack so it does whatever PX4 can do. I see nothing prevent you from doing your tasks. And please keep in mind that MindRacer is a highly modularized, expandable platform, so you are free and welcome to stack your own expansion modules on to the NanoMind frame! ---
**Author:** ![David\_Kraus](https://discuss.px4.io/user_avatar/discuss.px4.io/david_kraus/32/10628_2.png) [@David\_Kraus](https://discuss.px4.io/u/David_Kraus)\ **Post date:** [March 19, 2017, 10:05pm UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/5 "2017-03-19T22:05:48Z")
If you want to hold position you need GPS modules for outdoor, PIXFLOW module and/or another position system for indoor(some type of mocap MoCap). If you are limited by size 100x100mm Im afraid if mindracer is maybe too big(35x35mm) so if 100mm is maximum dimension for each prop rest only 32.5mm so it is about 1,2inch prop. This is very small copter you will probably need everything integrated on one board, similar like here. [http://discuss.px4.io/uploads/default/original/1X/a8b94cd71eb9c937a86457aebf680eb6ab5bf28f.png](http://discuss.px4.io/uploads/default/original/1X/a8b94cd71eb9c937a86457aebf680eb6ab5bf28f.png) This picture is from discussion above an it have 110mm between motors - so is too big for you(and it dont count props). Small airframe is crazyflie > **[Crazyflie 2.0](https://store.bitcraze.io/products/crazyflie-2-0)** > > The Crazyflie 2.0 is a versatile open source flying development platform that only weighs 27g and fits in the palm of your hand. Crazyflie 2.0 is equipped with low-latency/long-range radio as well as Bluetooth LE. This gives you the option of... in have 92mm between motors, and flight time is 7 mini without any addition load. And you dint have position control, because you dint have sensor what you need. I dont know why you need it smaller then 100mm, but I sugest to use some of racing frames size 130mm at. [https://hobbyking.com/en\_us/diatone-crusades130-quad-copter-pnp.html/?\_\_\_store=en\_us](https://hobbyking.com/en_us/diatone-crusades130-quad-copter-pnp.html/?___store=en_us) here you can use brush-less powerful motors and mid-racer or maybe pixracer. How do you want to solve position localisation? for coordinated flying (lifting something) standart GPS is not probably accurate enough ---
**Author:** ![RobQ](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/57b2e6/32.png) [@RobQ](https://discuss.px4.io/u/RobQ)\ **Post date:** [March 21, 2017, 5:34am UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/6 "2017-03-21T05:34:30Z")
Thank you for information provided. I agree with you that for a 10cm size, we have to integrate everything to a single PCB. That’s my final goal. So, before designing and building a PCB, I need to produce a prototype (in a 130mm or 150mm size) which can be used to test autonomous fight algorithms. Now my question is, which of the following flight controller are suitable and easy-to-use for autonomous tasks? - Naz32 (Here is a produce using it: [https://hobbyking.com/en\_us/diatone-crusades130-quad-copter-pnp.html/?\_\_\_store=en\_us](https://hobbyking.com/en_us/diatone-crusades130-quad-copter-pnp.html/?___store=en_us)) - MindRacer ([http://drupal.xitronet.com/?q=node/93](http://drupal.xitronet.com/?q=node/93)) - BeeRotor BRF3 ([https://hk.helipal.com/products/srd130-loki-x3-storm-racing-drone?variant=22776691077](https://hk.helipal.com/products/srd130-loki-x3-storm-racing-drone?variant=22776691077)) - CC3D Nano - Mini APM - PixHawk Mini > “How do you want to solve position localisation?” I have no solution yet and I would be grateful if other experienced users share your thoughts here. ---
**Author:** ![David\_Kraus](https://discuss.px4.io/user_avatar/discuss.px4.io/david_kraus/32/10628_2.png) [@David\_Kraus](https://discuss.px4.io/u/David_Kraus)\ **Post date:** [March 21, 2017, 7:37am UTC](https://discuss.px4.io/t/micro-quadrotor-parts-selection/2791/7 "2017-03-21T07:37:38Z")
For indoor localisation is probably best option to use some type of motion tracking system (et. [https://www.vicon.com/motion-capture/engineering](https://www.vicon.com/motion-capture/engineering)) another option is use to radio signals for localisation (et. [https://www.pozyx.io/store](https://www.pozyx.io/store)) this option needs ground installations and off-board computations. But for working with more copters is it probably simplest solution. Another aproach is onboard computations on copter but there is often need odroid conputer or similar, so is too heavy for your size for flight controller i would use something with support of PX4 and/or ArduCopter(Pixracer, mindracer, PixhawkMini). You have to check what dimensions and communication capabilities you need.