Sepehr is a disc-shaped, coaxial twin-rotor camera drone. Yaw comes from differential RPM between the two counter-rotating propellers; pitch/roll come from deflecting airflow through a flexible rubber duct. This is the complete digital design package for the full system — drone + ground station.

Why It's Different

• No blind spot by design — the camera stick yaws the entire airframe, not just the camera

• Custom flight controller: STM32F722 + IMU + barometer, with real CRSF parsing, failsafe monitoring, and battery telemetry

• Purpose-built Android ground-station app — manual control, antenna/bind matching, live telemetry, recording

• Redundant power: two independent battery circuits, isolated dual-circuit charge port

Specs

• All-up weight (target): 2.5 kg

• Thrust-to-weight ratio: 3:1

• Battery: 4x Li-Ion 21700 (6S1P, ~4500mAh), 2 independent circuits

What's Included

• Full drone firmware (STM32, C)

• Complete Android ground-station app (Android Studio project)

• All 3D model files (OpenSCAD + STL)

• Full parts lists (BOM) — drone, ground station, fabrication

• System block diagrams — drone and ground station electronics

• Illustrated build & assembly manual with exploded-view sheets

Honest Note Before You Buy

This is a finished design, not a flight-proven one. Everything has been built and cross-checked on paper, but the system has not yet been physically assembled or flight-tested. Expect real-world bring-up and tuning after your first build.

Not included: electronic modules or any 3D-printed/assembled hardware — this is the design package only.