Here's an interesting article I came across in Hackaday about an open source drone project that has an interesting/simple design made of easily sourcable materials and components.

Quote:The RPI sits on the top of the drone and it’s wired to the FC through its serial port (UART, to be more precise) after passing it through a level shifter (remember, the RPI uses 3.3V levels while most FCs seem to use 5V). In addition to the RPI, we also use a sensor that provides altitude (Time-of-Flight sensor) and relative odometry (optical flow sensor) allowing the FC to keep the drone in a fixed position thus transforming the pilot’s task into a high level one. Some extra nice advantages of using a RPI Zero W as the SBC is the huge community around it and easy access to WiFi and Bluetooth out of the box together with SPI, I2C, UART, PWM, etc. In order to allow the RPI to control the drone we developed a special Python3 library called YAMSPy that speaks the MultiWii protocol and can send commands and read information from a FC running iNAV or Betaflight.

Hackaday Article: https://hackaday.com/2021/03/15/resilien...250-grams/
Official site: https://thecognifly.github.io
Github: https://github.com/thecognifly

Well now isn't that SPECIAL.   That is some frame design. The AI concept is intriguing, but I want to FLY my quad.