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In this article, the budgetary unmanned aerial vehicles (UAVs) of the rotary type (the hexacopter, the quadcopter) based on flight controllers with ATmega2560, STM32F405 microcontrollers have been developed. A comparison is made of their capabilities, using the most popular firmware developed for them. The firmware was adjusted depending on the sensors, used in the flight controllers. The designed quadcopters, hexacopters are capable of performing the following flight modes. The holding horizontal uses the gyroscope and the accelerometer. The maintaining a given altitude uses a barometric sensor. The holding position GPS receiver is additionally used. The returning to take-off mode and programmed flight along waypoints marked on the map before the UAV launch. A magnetometer is additionally used here. It has been experimentally established, that the hexacopter is more stable in thevflight compared to the quadcopter based on MegapirateNG ver.3.1.5R2 and ArduCopter 3.2.1 firmware. It has been shown, that for large quadcopters with frame sizes larger, than 450mm, INAV firmware is less preferable, than Ardupilot firmware. The built copters can be used for photo and video shooting of terrain with the radius of up to 3.5 km with lithium-ion cells with a capacity of 6000 mAh. They have the flight duration of 15-20 minutes and the average speed of 20 km/h.

Creation of a Rotor-Type UAV with Flight Controllers, Based On a ATmega2560 and STM32f405 Microprocessors