Meet the ArduBee: an open source micro drone based on the ArduPilot software. It is equipped with a H7 MCU flight controller and can fly indoors and outside. You can add your own custom components to enhance these tiny drones. The ArduBee weights only 100 grams with its battery and motors, measuring 15cm from motor to motor.
The ArduBee has a bmi088 IMU, IST8310 compass, barometer, WiFi, and Li-ion battery. It flies using brushless motors. It lets you save logs to a SD card. Like what you see? You can find this project on Kickstarter.