Lumenier QAV250 Quadcopter

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The QAV250 is a small and nimble quadcopter platform. It is made by Lumenier which is a team of engineers and pilots from around the world and is available at It is very durable and has most of the same flight characteristics as the bigger quadcopters.

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  • Released: 2013-11-19
  • Manufacturer: Lumenier (GetFPV, FPV Manuals)
  • Type: Symmetric mini H-type quadrotor
  • Airframe: G10 material - glass-reinforced epoxy laminate sheets
  • Frame size: W204.78 x L218.78 x H51.00 mm
  • Drivetrain voltage: 3S to 4S
  • Max. current consumption: approx. 28 Amps (4 motors) - 3S 1806 motors [1]
  • Idle hover current: approx. 12 Amps (4 motors) - 3S 2206 2000kV
    • Current per motor: 7-8 Amps max.
  • Airframe weight: 145 grams (no equipment)
  • All-up-weight: 450-550 grams
  • Flight time: 4-6 min (2000kV, 1300mAh)
  • Center of Gravity: Center of frame, mid-point
  • Camera mount: 32 mm board camera
  • HD camera support: Mobius, Key camera, GoPro possible
  • Behaviors like: R/C fighter jet, R/C racing car, Podracer
  • Recommended flying area: small park, forest, garden, football field
  • Kit contents: 1x QAV250 G10 airframe, board camera mount and screws, 1x Power distribution board, 2x LED boards (1 red, 1 white), 1x aluminum landing gear and vinyl feet, 5-inch Anti-Vibration neoprene tape, 1x Lumenier Lipo strap, 1x Hardware set
  • Product pages:
  • Similar models:
    • Blackout Mini-H - by blackout,
    • Spanky Mini - by chatch,
    • DRQ250 Mini-H - by
    • M200 Minion H-Quad - by Patrizio_g,
    • Spidex Micro Quad - by
    • BAH Mini H Foldable Quad - by bayareaheli, ReadyToFlyQuads
    • MXP230 Mini FPV Quad - by xhover,


  • v1.0 - 2013-11-19
    • Initial release
  • v2.0 - 2014-01-30
    • New motor mounting holes, more options for different bolt patterns
    • Thicker G10 material for the motor mounting plate
    • Bumpers edge on the end of the arms to protect the motor during a crash
    • Flight controller cover plate includes cutouts for SMA connectors and adapters for the video transmitter.
  • CF Edition - Carbon Fiber version - 2014-05-01 [2]
    • Frame made out of strong carbon fiber plates - instead of G10 glass fiber sheets
    • Approx. 48 grams lighter than the original version
    • Retail price 150USD
  • Tilted Motors and Aero Guard - 2014-11-25 [3]
    • Ability to put 6-inch propellers on the frame
    • Motors tilted 10 degrees to minimize air resistance and drag


Recommended gear to get a nicely balanced and capable quadcopter.

  • Flight controller: light-weight
    1. OpenPilot CC3D Flight Controller - White Lumenier Edition
    2. Naze32 Arco [4]
    3. MultiWii NanoWii Micro Flight Controller [5]
  • Battery: 3S 1300-1800mAh 35C+ LiPo pack recommended
    • Size: approx H212 W35 x L72 mm, 80-120 grams
    • Amp rating (max.): (peak 8 Amp per motor x 4 motors) = 32 Amp, +20% margin = 38.4 Amp
    • Battery C rating (max. Amp):
      • 1300mAh battery x 25C rating = 32.5 Amp continuous - at the lower-end
      • 1000mAh battery x 35C rating = 35 Amp continuous - at the lower-end
      • 1300mAh battery x 35C rating = 45.5 Amp continuous - appropriate
      • 1300mAh battery x 40C rating = 52 Amp continuous - appropriate
    • Get a LiPo battery pack with minimum 35C constant rating
    1. Lumenier 1300mAh 3S 35C LiPo battery - recommended by the manufacturer, quality
    2. Turnigy nano-tech 1400mah 3S 40C Traxxas Lipo battery - center exit lead, high C rating, cheap
    3. Glacier 1300mAh 3S 30C LiPo battery - comes with Deans connector [6]
    4. Turnigy nano-tech 1300mah 3S 45C LiPo battery - good, cheap
    5. Zippy Traxxas 1400mAh 3S 30C Lipo battery - leads exits on middle-end
    6. Zippy Compact 1300mAh 3S 35C LiPo battery - 25C also available but too low
    7. Kypom KT1300/20-3S 1300mAh 20C LiPo battery - quality, low C rating
    8. Thunder Power 1350mAh 3S 25C G8 Pro Lite Plus LiPo battery - light-weight, expensive, low C rating
    9. Zippy Compact 1000mAh 4S 25C LiPo battery - 4S same flight time as 3S 1300mAh, extreme pull-out power, low C rating but decent for 4S (24Amp peak vs 25C)
  • Motors: 2206 class, 2000kV, 100-150W, 20-40grams, nylon lock nut instead of spinner
    1. Lumenier FXC2206-11 2350kV - step up from 2000kV [7]
    2. Lumenier FX-2206-13 2000kV - handles 3S-4S nicely on small props (5x3)
    3. SunnySky X2204 2300kV - excellent performance, perfect match for 5x3 props, great value
    4. T-Motor Navigator Series MN1806-2300kV - quality, rips but limited pull-out power [8] [9]
    5. T-Motor Navigator Series / Team Black Sheep MN2206-2000kV
    6. Cobra C-2204-32 1960kV [10]
    7. RCX 1804 2400kV micro Motor - cheap [11], magnets come loose [12]
  • Propellers: 5x3-inch - 2xCW 2xCCW
    1. Gemfan 5x3 propellers - 5mm bore, black/white/yellow/green, soft but no balancing needed - get them for 1.67USD at
    2. Tiger Motor 5x3 CF propellers - for aerial photography, video, vibe-free smoothness, expensive
    3. Gemfan 5x3 Carbon Fiber propellers - stiff but most times unbalanced, jello-effect, relatively expensive
    4. HQ 5x3 Carbon/Nylon props - stiff, more pop [13]
    5. Tiger Motor 5x3 Carbon Fiber blades - super nice, but expensive 15USD per prop [14]
    6. RCTimer 5x3 Carbon Fiber props - cheap, stiff
  • Speed controllers: 4x 10-15A 3S LiPo Speed Controllers
    1. Lumenier 12 Amp ESC with SimonK Firmware - only 2S-3S
    2. HobbyKing Blue Series 12A ESC (flash it to SimonK BS N-FET V2013-05-15, guide) - 4S capable [15]
    3. Quadrysteria 20 Amp PRO RapidESC (SimonK) - just as small as 12A ESCs, 4S compatible [16]
    4. Afro 12A ESC - 4S compatible [17]
    5. RCX 10A G Series ESC - cheap [18]
  • Receiver: 4ch min., 6ch recommended - use PPM
    1. FrSky D4R-II 2.4GHz 4ch receiver - small, PPM and RSSI compatible
    2. ImmersionRC EzUHF 4ch receiver - great range, transmitter module required
    3. OrangeRx R100 satellite receiver - smallest possible, connects directly to OpenPilot CC
  • Transmitter radio: airplane style transmitter
    1. FrSky 2.4GHz Taranis X9D radio - JR-type module compatible, desktop configuration application
    2. Futaba 8FG Super 2.4GHz radio - quality
    3. Futaba 9CHP radio - quality
  • Pilot camera:
    1. Sony 600TVL CC1333-B IR Block Board Camera 2.8mm lens - Get it here - Setup using this guide and this guide
    2. Sony 600TVL PZ0420 IR Sensitive Board Camera 2.8mm lens - great for night flying, faded colors during daylight
  • OSD:
    1. TBS CORE PNP50 - integrated OSD and 5V/12V voltage regulator
    2. Skylark Tiny OSD III
    3. Hobbyking G-OSD 3 Mini OSD System w/GPS Module flashed with CL-OSD [19]
  • Case:
    1. Lumenier QAV250 Professional Travel Case
    2. JR DSM Double Pro Transmitter Case JRPA710
  • Video transmitter:
    1. ImmersionRC 5.8GHz 600mW video transmitter
    2. Foxtech 1.3G 200mw video transmitter - with Lawmate 1.2GHz receiver [20] [21]
  • Accessories:
    1. Deans T-connectors - smaller than XT60
    2. Mini Deans T-connectors - only on 180x motors, smaller than XT60
    3. TBS CORE PNP50 voltage and OSD package - easy to install
    4. HPI Z682 M5 black flanged lock nut [22] - replace spinner with proper nuts
    5. Rapstrap Black 300mm cable-ties
    6. Black Rubber Grommets Nipples [23]
    7. Thick Super Glue - for frame repairs
    8. Liquid Electrical Tape - protect electronics, board cameras [24]

FPV gear

  • Mobius HD action camera - excellent ligth weight 1080P 30FPS footage
  • GoPro HD 3/3+ action camera - a bit bulky but amazing footage
    • Resolution 1080P 60FPS, medium viewing angle
  • Sony 600TVL CCD 32mm board camera - Securitycamera2000 CMQ-1993 with IR filter - great value, good quality image
  • ImmersionRC 5.8GHz 600mW video transmitter - small and powerful, works fine with 2.4GHz R/C transmitter
  • ImmersionRC 5.8GHz Circular Polarized SpiroNet Antenna set - small and good antennas, protecting casing
  • Fat Shark Attitude V2 FPV goggles - integrated video receiver, good quality, no wires

Tips and Tricks

  • Use double-sided adheasive foam to secure the ESC to the power-distribution-board - prevents the wires from breaking
  • Mount the flight controller with velcro or dampening foam to reduce vibrations/noise from disturbing the controller
  • Add a small drop of blue/purple thread-lock to keep all the frame screws and posts in place
  • Sand down the edges of the board camera mount to make it slide in easier
  • Feed the battery connectors inside and out the top to minimize the chance of the propeller touching
  • For a peppier ride, change to 4S batteries and 4S compatible speed controllers
  • Replace the motor spinners for M5 locking screws - reduces probability of unscrewing and vibrations
  • Use PPM to reduce the number of wires going from the receiver to the flight controller
  • Set failsafe on the receiver to be zero or low throttle to minimize damage
  • Get some nice video transitions for the editing, search for "film burn transitions" or get them here [25]
  • Use 16AWG for the main battery leads, 20AWG for the ESCs and regulators, 24-26AWG for all signal and other low current wires [26]
  • For fast forwad flight (FFF), position the battery as as close to center or on the top plate to make the platform tilt/front heavy [27] [28]
  • Avoid spinning the GemFan 5x3 propellers over 26000 RPM (2400kV x 11.1V = ~26600 RPM), else they could disintegrate [29]
  • Add 2x 10mm heat-shrink tubing over the SpiroNet antennas to strengthen it against crashes - it still bends but can take a crash better [30]
  • To protect ESCs, camera, board against moister, apply a thin layer of liquid electrical tape [31]
  • Add a piece of black tape over the Mobius SD card slot to prevent the card from ejecting on a crash [32]
  • To prevent the VTx SMA connector from unscrewing during flight, add a piece of heatshrink over the lower end of the antenna and over the hex screw [33]
  • In OpenPilot GCS throttle curve, drop the last top point down to 90 to 95% (from 100%) to allow some spare power for corrections by the flight controller [34]
  • Always wrap the Mobius or GoPro in red tape to find it when it flies off the frame - velcro does not hold it in place on a crash
  • For good acro characteristics, get as much thrust you can get i.e. stiffer propellers (CF), higher cell count (3S, 4S) [35]
  • If a different prop type (nylon, CF) develops more thrust or does so more efficiently (i.e. stiffer) than the one it replaces, it follows that a lower P is required to get the same response - then I and D need to be reduced/tuned accordingly [36]


Tweak the PID settings for the flight controller and set the transmitter to have 40 to 60% expo on the aileron and elevator stick inputs to give a smooth flight. For maximum flexibility and acrobatics, use rate mode.

Base QAV250 OpenPilot PID settings by Lumenier

Qav250 lumenier openpilot pids.jpg

Also, a list of user recommendations:

Minimum LiPo references voltages when using OSDs or voltage read-outs.

Lipo minimun voltage table.png


  • In descend (straight down), release a large amount of throttle (more than needed to descend) to make the machine drop and give it some momentum, then add some throttle (which will help stability) to slow the decent but not enough to arrest the descent - this minimized the common wobble effect [37]





Video branding

To add nice looking logos to your video, use the official ones below.

Or download these:

Luminer logo dark.png

QAV250 logo transparent.png