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Quadrotor helicopters are micro air vehicles with vertical take-off and landing capabilities controlled by varying the rotation speed of four fixed pitch propellers. Due to their rather simple mechanical design they have grown to popularity as platform for various research projects. Despite most of them being individually highly successful, they are typically tailored to a specific purpose making it hard to utilise them for further research and education. In this paper, we present the noveldoi:10.1145/1982185.1982267 dblp:conf/sac/UlbrichKHSS11 fatcat:6e2nr4jqgzghrnrc4fc3iu34aa