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or model Xylocopa virginica?
Speaking of scaled down flying bots...
Here's one entirely made on a PCB, so you don;t have to build anything. The PCB contains the microcontroller, accelerometer, gyro, and 4 motor drivers. The little battery hangs underneath;
It's from a long discussion here;
https://www.rcgroups.com/forums/showthread.php?t=1335765&page=21