Drone Technology Electronics components_1

Dr.K.Krishna Naik &Team
Associate Professor, Electronics and Communication Engineering
Indian Institute of Information Technology Design and Manufacturing Kurnool
As part of "Capacity building for human resource development in Drone and related Technology" project funded by
MeitY.
Session-1

Introduction to Drone or UAV
• Any aircraft or flying machine or flying robotic machines that can be controlled/ operated
remotely from a location of choice without a human pilot such machines is called
an Unmanned Aerial Vehicle (UAV) or simply referred as Drone.
• It can be guided autonomously or remotely by a human operator using onboard computers
and robots.
• During surveillance or military operation, UAVs can be a part of an unmanned aircraft
system (UAS), Drones can be made separately for air and water
• Drones have become increasingly popular in recent years.
• They are used for a variety of purposes, including photography, videography, surveying, inspection,
and even delivery.
• The basic components of a drone are the frame, motors, propellers, battery, flight
controller, and sensors.
• Let’s take a closer look at each of these components.
• Frame
• Battery
• Flight controllers
• Sensors
• Motors and Propellers

History of Drones
 The Unmanned Aerial Vehicles have been around us for centuries.
 The idea of drones was first conceived for the use by Military during war.
 The first documented use of a Drone/ UAV is of 1849 when Austrians
attacked the city of Venice using unmanned Air Balloons loaded with
explosives.
 Then in 1915, they were used by British military to take aerial
photographs of German movements in the are during Battle of Neuve
Chapelle.
 Later, United States came with ‘Kettering Bug’ in 1918 that was designed
to drop bombs on targets.
 Then came Queen Bee ”Drone” and Curtiss N2C-2 in thirties, which were
better than its predecessors.
 In 1941 during WW II, Reginald Denny from US made the first radio
controlled aircraft called Radioplane OQ-2. It was the first drone to be
mass produced ever.
 Further, in 1964, US created the Lightening Bug for secret surveillance
during cold war.

History of Drones
 The idea of flying preoccupied man since the beginning of time.
 The wish to fly has been put to test since ancient times (Dedal and
Icar), and then to projects with fundamental science (Leonardo da Vinci
1452- 1519, Montgolfier 1783).
 The flight dream never stopped here, it continued with light flyable
machines that were easier than air (SantosDumont 1899, Zeppelin
1900-1909), then machinery that was heavier than air (Otto Lilienthal,
1890-1896), and then continued in World War I and World War II.
 The evolution of unpiloted machines had known the same evolution as
the one’s with human command, and military conflicts would have
proven which is more efficient.
 The technological and design evolution influenced the development of
unpiloted machines, thus reaching a complex design over the years.

History of Drones-Ancient History
 Unpiloted aerial systems have known many names and
acronyms throughout history:
 Drones(Arial Targets),
 RPV (Remotely Piloted Vehicle),
 OUAV (Old Unmanned Aerial Vehicle),
 UCAV (Uninhabited Combat Aerial Vehicle),
 UCAV /S (Uninhabited Combat Aircraft Vehicles/System),
 RPA (Remotely Piloted Aircraft),
 RPH (Remotely Piloted Helicopter),
 Aerial robotics,
 MAV (Micro Aerial Vehicle)
 AAS(Autonomous Arial Systems)
 RAS(Robotic Arial Systems)

• The first major contribution to the discovery of
autonomous mechanisms occurred during
Pythagoras and is attributed to Archytas of
Tarantas (southern Italy).
• He has implemented a set of geometrical
concepts, thus creating in 425 BC the first
UAV, as a mechanical bird which can fly by a
mechanism placed in the stomach
• In the year 400 BC China has been documented
in the idea of a device that achieve vertical flight.
• Leonardo Da Vinci in 1483, has designed an
aircraft capable of vertical rise

Later in 1754 Mikhail
Lomonosov has
designed an axial
impeller
In 1783 Bienvenue
Launoy and a counter-
model propeller
Based on the Chinese idea
George Cayley designed a
carriage convertaplane
which remained at the
stage of idea due to the
propulsion systems gauge
which at that time were
only available for steam
locomotives
In 1840 Horatio Phillips has
designed a machine capable of
vertical flight routes.
It contained a miniature boiler to
generate steam and in 1860Ponton
d’Amécourt flew smaller helicopters
models powered by steam

In 1849 it was first used an unmanned
combat air vehicle when the Austrians
attacked the Italian city of Venice with 200
unmanned balloons loaded with bombs fitted
with timer devices.
In 1900 Nikola Tesla (1856-1943)
presents the concept of wireless
control of the balloon and in 1915
described a fleet of unmanned aerial
vehicles in aerial combat

In 1917 November Kettering Bug
plane called “aerial torpedo”, flew
in automatic mode for
representatives of the US
military, though he was not ready
to fight in the war
In 1917, after the war aircraft
conversion took place, Standard
E-1

In 1922’s first launch of a target unmanned
carried aboard HMS Argus by the US
military
In 1924 September, it held the first
successful flight of the same target,
RAE 1921 for 39 minutes and in 1933 the
British fleet used for withdrawals of practice
and training drones in the Mediterranean.
De Havilland DH-target drones 82B Queen
Bee

In 1935 there were developed a
series of RPV , projects led by
Reginald Denny.
In 1939 the same Reginald Denny
introduced a low-cost RC aircraft for
training AA gunners.
In the same year, he demonstrates
another prototype for U.S. Army
June 1944 Germany used Fi-103 (V1)
during the Second World War known as
cruise missiles

• In October 1944, the first combat mission
and use of a UAV is made from Balla
islands. Japanese positions were bombed
by 10 bombs aboard TDR-1 built by the
Interstate Aircraft Company in Los
belonging to US Navy.
• Also in 1944 held project Aphrodite, a
program that converted the US B-17 and
PBY-4Y into bomb flying drones.
• They were used later to nuclear tests in the
classical missions “dirty”
• In April 1946 the first aircraft flying
unmanned scientific research Northrop:
Northrop P-61 Black Widow who have the
task of gathering weather data for U.S.
Weather Bureau.
• In 1951 the first jet engines were used
(Teledyne Ryan Firebee type I)

In 1955 takes place the first flight of an unmanned
aircraft in reconnaissance (Northrop radioplane
SD-1 Falconer/Observer) subsequently used by
the US military and the British company
Beechcraft.
Entered the game with the Model 1001 for the US
Navy
In 1960, the launch of the program UAV
codenamed “RedWagon” take places, when
Francis Gary Powers piloting a U-2 was shot
down over the USSR and in August the same
year takes place the first flight of a helicopter
unmanned Gyrodine QH-50A in Maryland
In 1966 initiating the project Lone Eagle (later
called Compass Arrow) for the design of UAV
necessary reconnaissance missions over China,
so arises D-21

Classification of Drones
 Drones for Aerial Platforms
 Based on the different aerial platform, there are
following four major types of UAV (drone)
• Single Rotor Drone (SRD)
• Multi Rotor Drone (MRD)
• Fixed Wing Drone (FWD)
• Fixed Wing Hybrid Vertical Take off Landing (VTOL)

Drone Technology Electronics components_1

Drone type Advantage Disadvantage Use
Multi-rotor
drones
•Easy to control and
maneuver
•VTOL and hover flight
•Often lower price
•Portability
•Limited flying time
•Small payload
capabilities
•Less stability in the
wind
•Lower flight speeds
•Aerial photography
•Aerial inspection
•Landing surveying
•Agriculture
Fixed-wing
drones
•Longer flight time
•Can carry a heavier
payload
•Greater stability in the
wind
•Higher flight speeds
•More training needed
•No VTOL/hover
•Expensive
•Difficult to land,
more places needed
•Aerial mapping
•Utility inspection
•Surveillance
•Agriculture
Single-rotor
helicopter
drones
•VTOL and hover flight
•Long endurance (with
gas power)
•Heavier payload
capability
•More dangerous
•Harder to fly, more
training needed
•Expensive
•Aerial LiDAR laser
scanning
Fixed-wing
hybrid VTOL
drones
•VTOL and hover
•Long-endurance flight
•Fast speed
•Heavier payload
capability
•More training needed
•Expensive
•Aerial mapping
•Surveillance
•Agriculture
•Search and rescue

Size Length
Propeller
diameter
Weight Use
Very
small
drones
150mm (15cm,
6 inches) or less
51mm (2
inches) or less
200 grams
(0.2kg, 0.44lbs)
or less
Military surveillance
Small
drones
Up to 300mm
(12 inches)
76-152mm (3-6
inches)
200-1000
grams (0.44-
2.2lbs)
•Indoor equipment
inspections
•Recreation and
photography
Medium
drones
300-1200mm
(12 inches – 4
feet)
150-640 mm
(6-25 inches)
1-20kg (2.2-44
pounds)
•Professional
applications
•Amateur
photography
Large
drones
120cm (4 feet)
and up
64 cm (25
inches) and up
20kg (44
pounds) and up
•Enemy detection
and combat
capabilities
•Civil applications
such as drone
deliveries or
filmmaking

Types of drones according to their payload
capacity
Drone type Weight Payload capacity Use
Featherweight
drones
Less than 11 grams
(0.011 kg)
4 grams to 100 grams
(0.004 to 0.1 kg)
Military surveillance
Lightweight
drones
200-1000 g (0.2-1 kg) 150-270 g (0.15-0.27 kg)
Recreation and
photography
Middleweight
drones
1-600 kg (2.20-1323 lb)
400-1460 grams (0.4-
1.46 kg)
•Professional applications
Heavy-lift drones More than 160 kg More than 1,000 kg
•Enemy detection and
combat capabilities
•Civil applications such as
drone deliveries or
filmmaking
How much weight a drone can carry will depend on the power of the motor,
and the lift generated by the propeller in standard weather conditions.
Below we will divide UAVs into four categories based on the weight of the
payload they can carry.

Types of drones according to drone range
Drone range Flight distance Flight time Use
Very close-range
drones
5 km 1 hour Recreation
Close-range
drones
up to 50 km 1-6 hours
•Military surveillance
Short-range
drones
up to 150 km 8-12 hours
•Large-scale surveillance
•Mapping and surveying
Mid-range drones 644 km 24 hours
Military combat and
surveillance
Long-range
drones
More than 644
km
More than 24
hours
•Military surveillance and
espionage
•Weather tracking
•Geographic mapping
According to the range, UAVs can be classified into very close range, close
range, short range, mid-range, and long range.

Types of drones according to their power
sources
Power source Pros Cons
Battery-
powered
drones
•Lightweight
•Ability to store decent amounts of
energy
•High discharge rates
•Short lifespan
•Mistreat them and they can start a fire
•Use up energy fast
Gasoline-
powered
drones
•Potentially dangerous as they carry highly
combustible fuels
•More noise than a battery-operated
drone
•Large size
•No need for expensive battery backup and
charging stations
•No need to wait for batteries to recharge
•Higher flight speed
•Easily carry heavier payloads
•Smooth and stable flight
Hydrogen fuel
cell drones
•Renewable and environmentally friendly
•Resourceful
•Higher energy density than batteries
•Refuels in just minutes
•Works at low temperatures
•Generate a lot of heat
•Currently very poor in terms of efficiency
Solar drones
•Reduce operating costs
•Increase operating hours
•Lightweight
Limited flight time

Types of drones according to motors
Drone motor Pros Cons
Brushed
drone
motors
•Inexpensive to make
•Can be made in a small package
•Favorable in extreme environments due to lack of
electronics
•Replaceable brushes for extended life
•Two-wire control – control is simple; Brushless
motors have 3 wires and require a speed controller to
work
•No speed controller is required for fixed speed
•Less cost
•Uncomplicated
wiring
•Low energy
efficiency
•Commutators and
brushes wear out
more quickly
Brushless
drone
motors
•No brushes – lower maintenance and longer
durability
•More efficient – less energy wasted as heat
•Better speed and torque due to the absence of
brushes, because brush friction increases with speed
•Wider speed range
•Better heat dissipation due to the construction
compared to brushed motors
•More cost-effective for high-speed/power operations
High cost

Detailed classification of Drones
• micro unmanned air vehicle (μUAV),
• micro air vehicle (MAV),
• nano air vehicle (NAV),
• pico air vehicle (PAV)
smart dust (SD)

Major Components of Drones
1. Frame:
1. It should have sufficient strength to hold the propeller momentum and additional
weight for motors and cameras
2. Sturdy and less aerodynamic resistance
2. Propellers:
1. The speed and load lifting ability of a drone depends on shape, size, and number of
propellors
2. The long propellors create huge thrust to carry heavy loads at a low speed (RPM)
and less sensitive to change the speed of rotation
3. Short propellors carry fewer loads. They change rotation speeds quickly and require
a high speed for more thrust.
3. Motor:
1. Both motors brushless and brushed type can be used for drones
2. A brushed motor is less expensive and useful for small-sized drones
3. Brushless type motors are powerful and energy very efficient. But they need
Electronic Speed

Controller (ESC) to control their speed. These brushless motors are
widely used for racing freestyle drones, traffic surveys and aerial photography
drones.

Major Components of Drones
1. ESC (Electronic Speed Controller)
1. ESC is used to connect the battery to the electric motor for the power supply
2. It converts the signal from the flight controller to the revolution per minted (RPM) of motor
3. ESC is provided to each y motor of the drone
2. Flight Controller (FC)
1. It is the computer processor which manages balance and telecommunication controls using different transmitter
2. Sensors are located in this unit for the accelerometer, barometer, magnetometer, gyrometer and GPS
3. The distance measurement can be carried out by an ultrasound sensor
3. Radio Transmitter sends the radio signal to ESC to pilot to control motor speed.
4. Radio Receiver: Received the signal from the pilot. This device is attached to the quadcopter
5. Battery: High-power capacity, Lithium Polymer (LiPo) is used for most drones. The battery can have
3S (3 cells) or 4S (4 cells).
• When the pilot or autonomous system gives the drone a command, the flight controller sends signals to
the motors to spin the propellers
• The speed and direction of the motors and propellors are adjusted to achieve the desired movement.
The sensors provide data to the flight controller, which uses it to stabilize the drone in the air and adjust
its movement
• Drones can be controlled manually using a remote controller or programmed to fly autonomously.
Autonomous drones use sensors and pre-programmed instructions to fly to a specific location, perform
a task like taking photos or delivering a package, and return to their starting point.

How to operate a Drone
• Operating a drone can be a fun and rewarding experience, but it’s important to know how to do
so safely and legally
• Here are some general steps to operate a drone:
1. Read the manual: The first step is to read the drone manual carefully, as each drone model is unique
and has its own set of instructions.
2. Register your drone: Depending on your location, you may need to register your drone with the
appropriate authorities.
3. Charge your drone battery: Make sure your drone battery is fully charged before flying it.
4. Find a suitable location: Choose a location that is open, clear, and away from any obstacles like
trees, buildings, or power lines.
5. Check the weather: Avoid flying your drone in windy or rainy conditions. Check the weather forecast
before flying.
6. Turn on the drone: Turn on the drone and the remote control.
7. Calibrate the drone: Follow the instructions in the manual to calibrate the drone before flying.
8. Take off: Push the throttle stick slowly and smoothly to take off the drone.
9. Fly the drone: Use the remote control to maneuver the drone in the air. Keep it at a safe distance from
people and property.
10. Land the drone: When you are ready to land the drone, slowly bring it down to the ground using the
throttle stick.
11. Turn off the drone: After landing the drone, turn off the drone and the remote control.

Precautions During the Drone Use
• Drones can be a fun and useful tool, but they can also be
dangerous if not used properly. Here are some
precautions to keep in mind when using a drone:
1. Know the laws and regulations:
1. Before flying a drone, make sure you know the laws
and regulations in your area
2. This includes any local, state, and federal regulations,
as well as any restrictions on where you can fly your
drone.
2. Always keep your drone in sight:
1. It’s important to keep your drone within your line of
sight at all times
2. This will help you avoid collisions with other objects
or people.
3. Fly in open areas
1. Try to fly your drone in open areas away from people,
buildings, and other obstacles
2. This will help you avoid accidents and crashes.
4. Respect people’s privacy:
1. Don’t fly your drone over private property without
permission
2. Also, avoid flying your drone close to people’s homes
or in areas where people have a reasonable
expectation of privacy.
1. Avoid flying in bad weather:
1. Drones are not designed to handle extreme weather
conditions like strong winds, heavy rain, or snow
2. Avoid flying your drone in these conditions, as they
can cause your drone to crash or become damaged.
2. Keep your drone in good condition:
1. Regularly check your drone for any signs of damage
or wear and tear
2. Replace any damaged parts before flying.
3. Practice safe battery use:
1. Always use the manufacturer’s recommended
batteries and charger
2. Avoid charging your batteries unattended and never
use damaged or swollen batteries.
4. Be prepared for emergencies: Keep a first aid kit
and a fire extinguisher nearby in case of emergencies.
Also, be prepared to land your drone quickly if
necessary.
• By following these precautions, you can help ensure a
safe and enjoyable drone experience for yourself and
others.

Application and Development of Drones
 They are a variety of uses of drones in different industries. Some popular applications
were military and surveillance
• Military
• Space Research
• Product Delivery
• Agriculture
• Search and Rescue
• Internet Carrier

Military Drones
• During wars, drones used to drop bombs on the enemy zone
• Military drones is useful for surveillance, reconnaissance, aerial
photography, target tracking, and counter air threats
• Drones reduces threat of killing of pilot or military personnel

Space Research
• Many space research institute like NASA use drone for space applications
• Following NASA’s drone landed on the surface Mars for observation of lands
and wind flows

Food and Product Delivery
• The food and product delivery industry is one of the most popular
• The most critical factor that is considered of drone industry is delivering
food products through congested roads and buildings

 Irrigation
 Crop Moisture
 Soil Moisture
 Fertilizer Concentration
 Mold
 Bug Infestation
 Chlorophyll Concentration
 Feed Lot Inspection
 Peak Harvest
Agriculture Applications

Search and Rescue (SAR) Operation
• Drones are useful for in search and Rescue (SAR) operations in remote and
mountain areas
• They can also patrol larger areas as compared to an individual

Advantages/ Disadvantages of Drones (UAV)
Advantages Disadvantages
 There are some advantages of
Drones/ UAVs such as:
• Quality air Imaging
• Accessibility to hard-to-reach
areas
• Reduced risk or Safe work
• Reduced human effort
• Precise Operation
• Reliable operation
• Saves time of people
 The disadvantages of Drones/
UAVs includes:
• Privacy becomes vulnerable if
wrongly used.
• Safety of people/ equipment
depends on operator skills
• Laws for Drones are not so
specific yet. Still Evolving.
• Shorter Lifespan
• Can be easily hacked

MeitY.
Session-2

Working Principle of Drone and Flow Pattern
• A sufficient amount of upward force is required to lift the vehicle against gravity which is named
Lift.
• A force created to move the vehicle or body in motion is called thrust. These forces can be studied
using the kinematic laws of fluid flows
• When air flows over an aerofoil and pressure, viscous and drag force act on the profiles
• Force is directly proportional to the velocity of air at the inlet
• The flow pattern around the cross-section of the aerofoil or propeller is shown in Figure. High
fluid pressure at the bottom and low pressure at the top of the propeller causes an
upward force which is called a lift. This force is responsible for lifting the weight of an aero-
plane or drone.
• The amount of lift force depends on the angle of inclination of the aerofoil or propeller.
• Based on the principle of conservation of energy in fluid flow (Bernoulli’s principle, the sum of all
forms of energy in a fluid is constant along the streamline
• When air flows over an aerofoil or wing, its velocity increases at the top portion. But the
pressure of air decreases.
• In contrast, the air velocity decreases and pressure increase at the bottom side of the
blade. The next pressure difference across the aerofoil results in an upward force which is called a
lift
• CFD modeling of flow over an aerofoil has been important in many vehicular and aerospace
industries

Working Principle of Drone and Flow Pattern
 Bernoulli's principle can be derived from the principle of
conservation of energy.
 This states that, in a steady flow, the sum of all forms of
mechanical energy in a fluid along a streamline is the same
at all points on that streamline.
 This requires that the sum of kinetic energy and potential
energy remain constant.
 Thus an increase in the speed of the fluid occurs
proportionately with
 an increase in both its dynamic pressure and
kinetic energy, and
 a decrease in its static pressure and potential energy.

Types of drones based on the number of Propellors
 A number of propellors are provided to drones.
 More propellors improve the stability of drones and load-carrying capacity but
such drones need more battery power to drive more motors to get high power.
 A quadcopter is a more popular drone.
• Bicopter (2 propellers)
• Triplecopter (3 propellors)
• Quadcopter (4 propellers)
• Hexacopter (6 propellers)
• Octacopter (8 propellers)

What is a quadcopter?
 Quadcopters use four propellers and four motors with
propellers
 The use of four propellers allows the quadcopter to
balance the different forces involved and maintain stable
flight

Propeller Forces
 What would happen if you turned on a
single motor?
 Newton’s Third states “For every action,
there is an equal and opposite reaction.”
 To make the propeller turn, the
quadcopter body must apply a force
 There must be an equal and opposite
force applied by the propeller on the
quadcopter body
 This will make the propeller spin in one
direction around point “A” and the
quadcopter body spin the opposite
direction around point “A”
Force on propeller
Force on quadcopter body
A
A

Propeller Forces
 What would happen if you turned
on four motors?
 Each propeller spins in one
direction around its attachment
point
 This applies an equal and opposite
force at each of A, B, C and D
 The end result is that the body
will spin around the center of the
forces – it will spin counter-
clockwise around point E
Force on propeller
A
B
C
D E
A
B
C
D E

Unbalanced Forces
 Let’s try this out..
 See all four motors are turning clockwise
for 10 seconds
 You will begin by hanging your
quadcopter
Force on propeller
A
B
C
D E
A
B
C
D E

Balancing Forces
 How can we prevent the quadcopter from
spinning when we turn on the motors?
 We need to make sure that the forces balance out!
 Two motors rotates in clockwise(CW) and other
two rotates in counter-clockwise(CCW).
 Motors A and C rotate in clockwise and motors B
and D rotate in counter-clockwise direction.
 If we look at the forces on the quadcopter body –
each pair (A & C – and B & D) make the body
spin around point E.
 However, the spin from each pair is an opposite
direction and cancel out. The total angular
momentum is zero.
 Make where all motors A &.C are turning
clockwise and motors B & D are turning counter-
clockwise for 10 seconds
Force on propeller
A
B
C
D E
A
B
C
D E

Balancing Forces Code Solution
 Because the forces balance out, the quadcopter stays still
Unbalanced Forces Code Solution
 Because of propeller forces, the quadcopter spins when all
four motors are turning clockwise

Working Principle of Quadcopter
• A quadcopter has four propellors at four
corners of the frame
• For each propeller, speed and direction of
rotation are independently controlled for
balance and movement of the drone
• In a traditional quadrotor, all four rotors
are placed at an equal distance from each
other
• To maintain the balance of the system, one
pair of rotors rotates in a clockwise
direction and the other pair rotates in an
anti-clockwise direction
• To move up (hover), all rotors should run
at high speed. By changing the speed of
rotors, the drone can be moved forward,
backward, and side-to-side

Quadcopter Dynamics
• The movement of drone are classified into
four types based on the relation motion
between four propellors:
1) Throttle, 2) Pitch, 3) Roll, and 4) Yaw
The details of quadcopter dynamics are explained in many references
Throttle/ Hover: up and down movement of the drone is called throttle
•If all four propellors run at normal speed, then the drone will move down
•If all four propellors run at a higher speed, then the drone will move up. This is called the hovering of a
drone
Pitch: movement of a drone about a lateral axis (either forward or backward) is called pitching
motion
•If two rear propellors run at high speed, then the drone will move in a forwarding direction
•If two front propellors run at high speed, then the drone will move in the backward direction
Roll: movement of a drone about the longitudinal axis is called rolling motion
•If two right propellors run at high speed, then the drone will move in the left direction
•If two left propellors run at high speed, then the drone will move in the right direction
Yawn: the rotation of the head of the drone about the vertical axis (either the left or right) is
called Yawning motion
•If two propellors of a right diagonal run at high speed, then the drone will rotate in an anti-clockwise
direction
•If two propellors of a left diagonal run at high speed, then the drone will rotate in a clockwise direction

Pitch is controlled by the air
flow across the elevators.
Yaw is controlled by the
air flow across the rudder
Roll is controlled by the
air flow across the
ailerons
Three axis’ of flight include:
Pitch, Roll, and Yaw

Forces and Moments Acting on a Drone
 When a drone moves in the air, various forces act on it. The resultant force will decide its movement.
There are major forces acting on a drone
• Weight
• Due to the mass of the drone, the body mass force always acts in the direction of gravity
• Higher the weight of the drone, more power is required to lift and move the drone
• Weight of drone = mass of drone × acceleration due to gravity
• Lift:
• The vertical force acting on the drone is called lift
• This force is due to pressure differences across the drone (in the vertical direction). Hence, the speed, size, and
shape of the propeller blade decide the amount of lift force
• Lift is essential to lift the body against the gravity
• To create this force, all four propellors run at high speed to lift the drone
• Thrust
• The force acting on the drone in the direction of motion is called thrust. However, for drone dynamics, it is normal
to the rotor plane.
• During hovering, the thrust is purely vertical. If thrust is inclined then the drone will tilt forward or backward.
• This force is essential to move the drone in the desired direction at equal speed
• To get desired motion, two propellors have been given high speed
• Drag
• The force acting on the drone in the opposite direction of motion due to air resistance is called drag
• This may be because of pressure difference and viscosity of air
• To reduce the drag, the aerodynamic shape of the drone is selected

There are 4 forces involved with flight:
•Lift
•Weight
•Thrust
•Drag

 Aerodynamics deals with the motion of air and the forces acting on a body moving relative to the
air
 The basis for this understanding is found in the four forces acting on an aircraft and Newton's
Three Laws of Motion
 In un-accelerated flight, the four forces are in equilibrium which is lift equaling weight, and thrust
equaling drag
 Lift: Upward force created by airflow
 Weight: Opposes lift via gravity
 Thrust: Forward force which propels the airplane
 Drag: Retarding force which limits speed
 A balanced aircraft is a happy aircraft (fuel burn, efficiency, etc.)

The principle structure of an aircraft consists of:
 Fuselage: main structural unit
 Wings: airfoils to produce lift
 Flight Control Surfaces:
 Primary: ailerons, elevator, rudders
 Secondary: moveable trim tabs located on the primary flight control surfaces
 Auxiliary: wing flaps, spoilers, speed brakes and slats

 Weight:
 Force of gravity that acts vertically through the center of gravity
 Weight varies based on load, passengers, and fuel
 Opposing lift, as an aircraft is descending
 Thrust:
 Forward acting force that opposes drag and propels the airplane
 Measured in pounds of thrust and/or horsepower
 Acts parallel to the center of thrust to overcome drag, F=MA
 Excess thrust makes an airplane climb
 Provided by a propeller in most small aircraft
 Thrust must overcome total drag in order to provide forward speed with which
to produce lift
 Increasing the power allows thrust to exceed drag, causing the airplane to
accelerate
 Reducing the power allows drag to exceed thrust, causing the airplane to slow

Lift:
 Key aerodynamic force on an airfoil
 Lift always acts in a direction perpendicular to the relative wind and to the lateral
axis of the aircraft
 Therefore, lift is not always up or in any reference to the Earth
 Lift is concentrated from the center of pressure (CP)
 Drag is always a by-product of lift
 Air flow over the airfoil causes lift
 Lift is proportional to the square of the speed (Lift = V2)
 The magnitude of the force of lift is directly proportional to the density of the air,
the area of the wings, the airspeed, shape, and AoA
 Total lift must overcome the total weight of the aircraft, which is comprised of the
actual weight and the tail-down force used to control the aircraft's pitch attitude
 Occurs proportionately with:
 Speed
 Air Density
 Shape
 Size of the airfoil
 You can control lift in 2 ways:
 Increasing AoA
 Increasing Speed

L
D
Total Lift
Air Density Air Velocity
Coefficient
Lift
Wing Surface
Area
Coefficient of Lift
Coefficient of Drag
Total Drag
L

Definitions:
 Airfoil: any surface such as a wing, aileron, rotor blade, or stabilizer designed to produce lift when in
motion relative to the surrounding air
 Chord: Chord line longitudinal length (length as viewed from the side)
 Chord Line: The chord line is the straight line intersecting the leading and trailing edges of the airfoil
 Mean Camber Line: Located halfway between the upper and lower surfaces as the average
 Relative Wind: The direction of the airflow with respect to an airfoil
 Angle of Attack (AoA): The acute angle measured between the relative wind, or flight path and the
chord of the airfoil
 Angle of Incidence (AoI): formed by the chord of the airfoil and the longitudinal axis of the aircraft
which is designed into the aircraft and cannot be changed by the pilot
 Attitude: relationship of the aircraft's nose with the horizon
 Flight Path: The course or track along which the aircraft is flying or is intended to be flown
 Lift: A component of the total aerodynamic force on an airfoil and acts perpendicular to the relative
wind
 Center of Pressure (CP): The average (mean) of the lift force through which all lift is considered to
act, same as Center of Lift
 Center of Lift: The average (mean) of the lift force through which all lift is considered to act, same as
Center of Pressure
 Center of Gravity: The average weight across an aircraft through which gravity is considered to act

Kinematic for Quad-copter
• The thrust produced by each propeller is
perpendicular to the plane of rotation of
propellors.
• It is directly proportional to the square of
the angular velocity of the propeller
 Fi = kf ×ωi
2
• If L is defined as the distance between two
motors or propellors for any diagonal of the
drone, then the reaction moments about the
X-axis and Y-axis
 Mx = (F3 – F4) × L
 My = (F1 – F2) × L
• Newton’s second law of motion
• For linear motion: Force = mass × linear
acceleration
• For rotational motion: Torque = inertia ×
angular acceleration

Hovering Motion
•Equilibrium Conditions for hovering
mg = F1 + F2 + F3 + F4
All moments = 0
•Equation of motion
m = F1 + F2 + F3 + F4 – mg
m = 0
Rise or Fall Motion (Throttle up)
•Conditions for hovering (rise)
mg < F1 + F2 + F3 + F4
All moments = 0
•Conditions for Fall
mg > F1 + F2 + F3 + F4
All moments = 0
m = F1 + F2 + F3 + F4 – mg
m > 0
Yaw Motion
•Conditions for hovering
mg = F1 + F2 + F3 + F4
All moments ≠ 0
mass* linear acceleration = F1 + F2 + F3 + F4 – mg
Izz *angular acceleration@ Z-axis = M1+ M2+M3+ M4
Pitch and Roll Motion
•Conditions for hovering
mg < F1 + F2 + F3 + F4
All moments ≠ 0
mass* linear acceleration = F1 + F2 + F3 + F4 – mg
Ixx * angular acceleration @ x-axis = (F3 – F4)×L

Rigid-body dynamics
• To calculate individual speeds and forces acting on drones, the three-dimensional rigid-body dynamics
should be modeled
• The first step is to identify the reference coordinates, the direction of rotor speed and forces acting the
drones
• For the rigid body, we have to consider the effect of aerodynamic, inertial, gravitational, and gyroscope
• Aerodynamic Forces: rotation of the propellors in air causes various forces such as friction and
drag
• Secondary aerodynamic effects: blade flapping, ground effect, and local flow fields
• Inertial counter torques: gravitational forces acting at the center of drone affect the rotation of
propellors
• Gyroscopic effects: change in the orientation of drone body and plane rotation of propellors.
• Based on Newton-Euler equations, all forces and moments acting on a quadcopter are combined and
result in a complete model of the drone dynamics
• This physical model is useful to control the desired motion of the quadcopter

MeitY.
Session-3

Detailed classification of Drones
 Multi Rotor Drone
• Multi Rotor Drone uses multiple propellers (blades) for
navigation and flying in space. Such drones have
common uses for photography and video surveillance.
• Multi rotor drones are categorised based on number of
propellers
• Tricopter: Three Propeller Drones
• Quadcopter: Four Propeller Drones
• Hexacopter: Six Propeller Drones
• Octocopter: Eight Propeller Drones
 Fixed Wing Drones
• Fixed Wing drones have wings in place of propellers just
like an airplane. They cannot hover at one place
• They fly on the set course till their energy source is
functional.
 Single Rotor Drones
• As the name suggests, a Single rotor drone (SRD) consist
of only one rotor with a small tail to control it direction
• This drone is similar to a helicopter but carried less load
Fixed Wing Hybrid VTOL
•VTOL stands for Vertical take Off & Landing.
Fixed Wing Hybrid VTOLs uses propeller(s) to
lift off and wings for gliding.
•Multiple configurations are used for fixed wing
hybrid drones
•Quad-copter is the most popular fixed wing
drone and it consist of the following mechanical
and electrical parts
1. Propeller or Wings
2. Body or Chassis
3. Landing Gear
4. DC motors (prime mover)
5. Battery
6. Flight Controller
7. Electronic Speed Controllers
8. Transmitter
9. Receiver
10.GPS Module
11. Application modules: example Camera

WHAT IS DRONE QUADCOPTER?
 Drones are known as Unnamed Aerial Vehicles.
 With the power of the automatic control system, It
looks like a robot that can fly with the help of a remote
control.
 There are many types of drones.
 the bicopter (2 propeller),
 the triplecopter (3 propeller),
 the quadcopter (4 propeller),
 the hexacopter (6 propeller) and
 the ocptacopter (8 propeller).
 The more propeller the more stable the drone and the
more battery power is required to accommodate the
total power of the motor.
 The most popular version is a quadcopter.
 Quadcopter uses four propeller in transverse state.
 Each propeller has its own speed for balance and movement.
 The speed of the propeller depends on the orientation and the
state of the drone movement.

Components of the Drone
 Frame:
 Designed for strength to accommodate the propeller momentum and
can accommodate additional tools such as cameras and gimbals.
 The frame should also be light and sturdy.
 There are several frame sizes: 120 mm, 180 mm, 210 mm, 250 mm,
450 mm, 550 mm.
 Propellers:
 Affects drone speed and load lifting ability.
 The long propeller blade is able to accommodate heavy loads at a low
RPM but the movement is less responsive.
 While a short propeller blade can change speed quickly and requires a
high RPM.
 Motor (Brusless or Brushed):
 Drones use either motor brusless or brushed type.
 Brushed motor is usually used for small-sized drones or entry-level.
 It is cheap and easy to do tuning.
 Brusless type motors have many advantages. It is powerful and very
efficient.
 But it requires ESC (Electronic Speed

Controller) to control speed.
 It is widely used for FPV, racing freestyle, and aerial photography
drone.

Components of the Drone
 ESC (Electronic Speed Controller)
 Connects the power supply from the battery to the motor.
 ESC receives a signal from the “flight controller” and translates it to RPM to
rotate the motor.
 Every motor on the drone has an ESC.
 There is also a “mixed” ESC of which 4 ESCs are combined.
 Flight Controller (FC)
 The main electronic circuit that contains the computer processor.
 Manage balance and communication controls with “radio transmitter”.
 Which it sends the signal to ESC to control motor speed.
 Here are located sensor sensors such as gyrometer, accelerometer, barometer,
magnetometer and GPS.
 Some flight controllers have ultrasonic distance measuring sensors.
 Radio Transmitter TX
 Send a signal from the pilot to the quadcpter.
 To control the quadcopter moving.
 Radio Receiver RX
 Received the signal from the pilot.
 This device is attached to the quadcopter
 Battery
 The commonly used batteries are high-power Lithium Polymer (LiPo).
 Either 3S (3 cells), 4S (4 cells).

What is a flight controller
 The flight controller is the brain of the drone, which controls the
motors and ESCs in the drone.
 It is an electronics board in which sensors, processors, communication
protocols, and transmitter pins are installed.
 Every part of the drone is controlled by a flight controller. It moves the
drone by changing the RPM of the motors.
 It is a control system that takes input from the sensors and makes the
drone fly accordingly.
 Flight controller’s purpose is to stabilize the quadcopter during flight
and to do this, it receives the signal from sensors and sends these
signals to the processor and then it passes the control signal to ESCs
and the combination of these signals instructs the ESCs to make fine
adjustments to the motors rotational speeds which in-turn stabilizes
the craft.
 Once processed, this information is sent to the ESCs which in turn
adjust the rotational speed of each motor to control flight orientation
(yaw, right, left, up, down, backward, forward).

What is a flight controller
 Physically, a flight controller is nothing more than a circuit
board with electronic chips on them.
 You can compare them to the motherboard and processor in
your laptop.
 The flight controller is the brain of a drone.
 A small box filled with intelligent electronics and software,
which monitors and controls everything the drone does.
 And just like the brains of different organisms, flight
controllers also vary in sizes and complexity.
 What does a flight controller for drones do?
 Can be classified within one of three categories
 Sensing,
 Controlling,
 Communicating.

Perception (sensing)
 The flight controller is connected to a set of sensors.
 These sensors give the flight controller information
about like its height, orientation, and speed.
 Common sensors include an Inertial Measurement
Unit (IMU) for determining the angular speed and
acceleration, a barometer for the height, and
distance sensors for detecting obstacles.
 Just like how we perceive as humans, the drone
filters a lot of this information and fuses some to get
more efficient and precise information.
 Advanced flight controllers can sense more
precisely and detect differences more quickly.

Controlling
 Aside from sensing what’s going on, a flight controller… unsurprisingly controls the motion of
the drone.
 The drone can rotate and accelerate by creating speed differences between each of its four
motors.
 The flight controller uses the data gathered by the sensors to calculate the desired speed for
each of the four motors.
 The flight controller sends this desired speed to the Electronic Speed Controllers (ESC’s), which
translates this desired speed into a signal that the motors can understand.
 Calculating the movements, fusing and filtering the sensory information, and estimating the
safety and durability of a flight is all done by an algorithm.
 A fancy word that is used a lot nowadays which in essence nothing more than a set of strict
rules that every microchip on the board has to apply to.
 The most commonly used flight control algorithm is called PID control: Proportional Integral
Derivative control.
 Within this area, there is a lot of research going on, which resulted in INDI: Incremental
Nonlinear Dynamic Inversion.
 This algorithm reads out and reacts to incoming information way faster, therefore making the
drone flight more stable.


Communicating
 A key part of a flight controller is communication.
 A part of the sensor’s job is to give out information that needs
to be translated clearly for a pilot to read, which means
efficiently.
 An obvious thing to communicate is its battery level, which can
decide if a pilot wants to fly further or return to the charge.
 But communication goes further than from flight controller to
human pilot; with the entrance of auto-pilot programs in the
drone industry, flight controllers need to communicate with
other computer systems about its flight destination and how
to get there.
 Communication is mostly done with wi-fi and radio frequencies
right now, but cellular solutions are also already in use.

What kind of flight controllers are there?
 There are a lot of different flight controllers on the market. They range
from very basic to expensive systems. To make it a bit more
comprehensible, I made four categories based on their users.
• FC’s for hobbyists/builders – Easy to install and perfect for people that do
not want to spend large amounts of money from the get-go.
• Racing FC’s – Designed to be very lightweight, precise, and responsive.
• FC’s for filming – Although mostly bought included in a drone with a
camera, these flight controllers are more focussed on creating fluent shots
and accessible handling for a pilot.
• Within this segment, Chinese company Dà-Jiāng Innovations (better
known as DJI) is a household name.
• Commercial FC’s – The latest segment to evolve in the previous years.
• These are for the most advanced drones, capable of safe flying and
transporting high-value cargo.
• The biggest players in this field are DJI and Pixhawk, but new flight
controllers like Auterion’s Skynode and Fusion Engineering’s Fusion
Reflex are also promising flight controllers in the industry.

Flight Controller
 This Pixhawk flight controller from
RadioLink has optimized the PCB layout
and the barometer height hold, providing
more stable flight performance even at
high speed.
 It integrated the newest 32-bit chip
technology and high-end sensors; this is
absolutely one of the best flight
controllers for quadcopters.
 Processor:
 32bit STM32F427 Cortex M4 core with FPU
 168MHz
 256KB RAM
 2 MB Flash
 32 bit STM32STMF100 failsafe co-processor
 Sensor:
 ST Micro L3GD20H 16 bit gyroscope
1. ST Micro LSM303D 14 bit accelerometer/magnetometer
2. Invensense MPU 6000 3-axis accelerometer/gyroscope
3. MEAS MS5611 barometer
4. Item weight: 37.6g
5. Item dimension: 85 * 52 * 15mm

Electronic Speed Controller-ESC

Electronic Speed Controller-ESC
 The term ESC stands for “electronic speed control is an electronic circuit used to change
the speed of an electric motor, its route, and also to perform as a dynamic brake.
 These are frequently used on radio-controlled models which are electrically powered, with
the change most frequently used for brushless motors providing an electronically
produced 3-phase electric power low voltage source of energy for the motor.
 An ESC can be a separate unit that lumps into the throttle receiver control channel or
united into the receiver itself, as is the situation in most toy-grade R/C vehicles.
 Some R/C producers that connect exclusive hobbyist electronics in their entry-level
vehicles, containers, or aircraft use involved electronics that combine the two on a sole
circuit board.

 An electronic speed controller can be designed with three essential components like
a voltage regulator/ BEC (Battery Eliminator Circuit)), a Processer & the switching
includes FETs.
 The BEC is a separation of the electronic speed control that will transmit power back
to your receiver after that to servos.
 This also includes one secondary function like when the motor is operated through a
battery then the motor gets its smallest voltage, then the BEC will keep some power
for the flight control in dangerous situations so the motor doesn’t consume total the
power from the battery.
 At present, the processor is completely enclosed within a single Si semiconductor
chip.
 The main function of this processor is to decode the data being provided to it from the
receiver within the model as well as to regulate the power toward the motor using
FETs.
 In an ESC, this transistor plays a key role by performing all the works. It observes the
complete current & voltage of the motor as well as a battery.
 This transistor works like a switch to control the current flow to throttle the electric
motor.

The Function of Electronic Speed Control
 An ESC or electronic speed control mainly follows a speed reference signal to change the
speed of a switching network of field-effect transistors.
 The motor speed can be changed by changing the switching frequency or the duty cycle
of the transistors.
 For BLDC motors, different kinds of speed controls are necessary because this motor
speed can be controlled by changing the voltage on its armature.
 This kind of motor needs a diverse operating rule like the motor speed can be changed by
varying the timing of pulses for current transmitted to the different motor windings.
 Generally, the Brushless ESC systems make 3-phase AC power such as a variable
frequency drive (VFD) to make the brushless motors work.
 These kinds of motors are more popular due to their power, efficiency, lightweight,
longevity as compared to usual brushed motors.
 BLDC motor controllers are very complex as compared to brushed ones.
 The exact phase changes through the rotation of the motor, which can be taken into
account using the electronic speed control.
 Generally, the rotation of this motor can be detected through back EMF, but variations
that exist will utilize optical detectors otherwise separate Hall Effect sensors.

Types of an Electronic Speed Controller
 There are two kinds of electronic speed controllers based on the specific requirements, you
can acquire the exact one existing in RC Models shops such as
 Brushed electronic Speed Control.
 Brushed ESC is the first electronic speed controller, which has been around for
several years.
 It is very cheap to use in various RTR electric RC vehicles.
 Brushless ESC
 Brushless ESC is the modern advancement in technology once it comes to Electronic
Speed Controls.
 It is also a bit more costly.
 Connected to a brushless motor, it carries more power higher performance as
compared to the brushed ones.
 It can also last a longer period


Remote Controller/Transmitter-Basics

 This transmitter has the advantage that it doesn't
require a PC or laptop.
 The transmitter has one LCD display and can be set up
by simply using the buttons.
 It can operate for up to 1500 m. Magnetic interference
affects the range of transmitters.
 The transmitter's range will be affected by magnetic
interference.
 A transmitter with a greater range will have more range
if there is more magnetic interference.
 We can say that the transmitter has a range of 1500
meters.

Trims:
 We use trims to stabilize the drone.
 These trims are adjusted when the drone becomes unstable during flight.
 These trims can be used for four channels.
 We can perform quicker trim adjustments by holding the trim in the
desired position.
 When the trim position is in the middle, the transmitter will emit a louder
tone.

VRA & VRB knobs:
 These knobs can be found at the top of your transmitter.
 These are auxiliary channels that can be used for
attaching switches to additional channels to control
parts such as the landing gear or headlight.
 The image below shows that the knobs are two. The
knob on left is VRA, and the knob right VRB.

Bind key:
 We use a bind-key to bind the transmitter and
receiver.
 The black-coloured binding key can be seen in the
image below.
 This button can be found at the bottom left of the
transmitter.
http://runamok.tech/RunAmok/flysky_i6.html

Switches:
 This transmitter has four switches.
 They are switch A (SWA), B (SWB), C (SWC), and D (SWD).
 A, B and D are two-mode switches, while C is a third mode switch.
 You can use any of the two-mode switches to perform the
functions of channel 5 or 6.
 When using GPS in drones, switch C is used.

Transmitter Modes
 Transmitter Mode 1 is the European standard with Throttle channel 3
on the vertical axis of the right stick, and Elevator channel 2 on the
vertical axis of the left stick.
 Transmitter Mode 2 is the U.S. standard which has the vertical sticks
reversed: Throttle channel 3 on the left stick and Elevator channel 2
on the right stick. The FS-i6 transmitter comes with Mode 2 enabled.

Remote Controller/Transmitter-Basics
 TRANSMITTER: FS-I6X (6 CHANNELS)
 RECEIVER: FS-IA10B (10 CHANNELS)
 RF RANGE: 2.408-2.475 GHZ
 RF POWER : < 20 DBM
 RF CHANNEL: 135
 BANDWIDTH: 500 KHZ
 TOTAL WEIGHT: 392 GM
 POWER: 6V DC 1.5A
 Using a drone is easy but controlling a drone is a
tough job that’s why a transmitter is needed.
 You can’t fly a multirotor without it because it
uses radio signals to send commands wirelessly
to a Radio Receiver, which is connected to an
aircraft or multirotor that is being remotely
controlled.
 and FlySky is one of the popular brands that only
manufactures a Diverse Range of Transmitters
and Receivers at a reasonable price.
 The AFHDS 2A (Automatic Frequency Hopping
Digital System Second Generation) developed
and presented by FlySky is specially developed
for all radio control models.
 Offering superior protection against interference
while maintaining lower power consumption and
high reliable receiver sensitivity
 FlySky Transmitter and Receiver is gaining so
much popularity due to its originality and
compatibility in high-end drone projects.

Radio Receiver
 A Radio Receiver is the device capable of receiving
commands from the Radio Transmitter, interpreting
the signal via the flight controller where those
commands are converted into specific actions
controlling the aircraft.
 A Receiver must be compatible with the Radio
Transmitter which in most cases means that the same
brand of Rx and Tx needs to be purchased in order to
establish a communication.
 Frequencies must also be the same on both Rx and Tx.
For instance; a 2.4GHz Transmitter can only work with
2.4GHz Radio Receiver.
 Thus, while selecting your Drone Transmitter and
Receiver, it is important that they are compatible with
each other in terms of frequency and other
parameters.
 Also, it is necessary that both the components have the
size and features according to the specifics needed.
 It is recommended to purchase a high-quality Radio
transmitter with Receiver when starting out to fly your
own drone as it is one of the components that will last
long enough.

Specifications of Transmitter and Receiver
 Specification forFS-i6X RC Transmitter :
1. Item:FS-i6X RC Transmitter
2. Tx Channel: 6
3. Model Type: Fixed-Wing/Glider/Helicopter
4. RF Range: 2.408-2.475GHz
5. RF Power : < 20dBm
6. RF Channel: 135
7. Bandwidth : 500KHz
8. 2.4GHz System : AFHDS 2A / AFDHS
9. Modulation Type: GFSK
10. Stick Resolution: 4096
11. Low Voltage Warning: < 4.2V
12. DSC port: PS/2 Port PPM
13. Chargeable: No
14. Antenna Length: 26mm (Dual Antenna)
15. Weight: 392g
16. Power : 6V DC 1.5A
17. Display: STNTransflective Display, LCD 12864 Lattice, VA
73x39mm, LCD with white backlight
18. Size : 174 x 89 x 190 mm
19. Online Update: Yes
20. Color: Black
21. Certificate: CE0678, FCC
 Specifications forFS-iA10B RC Receiver:
1. Rx Channels: 10
2. Suitable models: Airplane / glider / helicopter Health
3. Frequency range :2.4-2 .48 GHz
4. Transmitting power: not more than 20dBm
5. Receiver sensitivity:-105dBm
6. 2.4G modes: automatic frequency second generation
digital system
7. Encoding: GFSK
8. Antenna length: 26 mm * 2 (dual antenna)
9. Weight: 19.3 g
10. Input power :4.0-6 .5 V DC
11. Dimensions: 47 x 33.1 x 14.7 mm
12. Color: Black
13. Certification: CE0678, FCC
14. i-BUS Interface: Yes
15. Data acquisition interface: Yes
16. Color: Black.
17. Model Type : Airplane / Glider / Helicopter
18. Compatible Transmitter: Compatible with FS-i4, FS-i6,
FS-i10, FS-GT2E, FS-GT2G

MeitY.
Session-4

Frames
 Frame is the main part of the quadcopter.
 It provides support and strength to all quadcopter components.
 There are various types of designs, materials and diameter sold in the market.
 Frames that are strong and light enough to provide good quadcopter
characters.
 The commonly used material for drones is carbon fiber type.
 It is proven by durability.
 There are also plastic types.

Frame Shape Types
 TrueX
 Wide X
 Stretch X
 Deadcat
 H Shape
 HX
 Plus +
 Z Shape

True X
 X refers to its shape
appearing “X”.
 This type of frame is
stable because its
center of gravity is
centered.
 It’s good for freestyle
action, racing in terms
of control.

Wide X
 The frame’s habit for freestyle.
 This is because the position of the camera and the
battery is in the center of the frame making it stable.

Stretch X
 The string of the Stretch X is stable when turning.
 This is because the distance between the motor is a bit widely the
wind resistance resulting from the propeller.
 Stretch X is loved by racer in term stability during the pitch axis
which is able to increase control while racing at high speed.

Deadcat
 Deadcat has a broad-
fighting angle.
 Usually a large-shaped
quadcopter.
 It makes it best to place
the action HD camera.
 Electronic and battery
components are in the
tidy field in the middle
of the frame.

H Shape
 The name of the frame
H is of its shape in the
form of H.
 It is strong but rather
heavy.
 Able to load a
maximum of FPV
accessories.
 Very stable when roll.

HX Shape
 The position of the
arm is from the
shape of X.
 While the middle
part resembles H.
 Many of the choice
between the H
or HX are the
choice of the
opposite.

Plus +
 Plus is the X that in the turn turns it in the form + seen.
 This frame is not very popular.
 The apparent lack of this frame is the front rotor
interrupt the view of the action camera.

Z Shape
 Frame Z is the same two
plates mounted up and
down producing
geometric skips
between front and back.
 Makes smooth flow of
air flow when pitching
forward.

Application: For Racing FPV
 First Person View, or FPV, drone racing is a sport where participants control "drones"
(typically small radio-controlled aircraft or quadcopters), equipped with cameras while
wearing head-mounted displays showing the live stream camera feed.
 The combination of sports frames is the holder of HD action cameras and frames need to
be solid.
 This is because of the need to lift electronic and HD action cameras.
 Need to have plenty of mounting space to support additional components.
 It needs to be strong enough to carry the load and be stable as well as an important
aspect is the HD action camera.

Application: Mini FPV
 Difficult to build.
 This is because it needs to be loaded with electronic equipment and
small-size action cameras.
 The frame needs to be strong and lightweight to accommodate the
load of the equipment.

Application: Mini Quadcopter
 It is easy to fly because it is light and small.
 Able to glimpse in a narrow space.
 Frame is lightweight as it does not require much of the equipment it
carries than Mini FPV makes it easy to control and extremely stable.
 Small appliances make him cheap to build.

Application: Aerial Photography
 Aerial photography requires a stable
frame for clear image and video results.
 Need to lift heavy loads like
sophisticated camera accessories.
 A distant range of flights is important if
you want to take pictures in large areas.
 Quadcopter and hexacopter are often
the professional choice for aerial
photography activity.
 We can see that there are many types
of frame quadcopter options available,
including materials, usability and
shape.
 By recognizing each type of frame we
can determine the best frame setup for
ourselves, especially to those who love
DIY on their own.

DRONE PROPELLERS
 A propeller is a type of fan that transmits power by converting
rotational motion into thrust.
 It works when the propeller spins fast and then creates thrust and
torque which will lift the drone into the air to move and fly.
 Propellers are constructed of several types of materials.
 There are various sizes, lengths, pitches, numbers of blades, and
shapes.
 I will explain to you about:
• Material
• Pitch
• Size
• Number of blades
• Shape

Material
The commonly used materials are plastic and carbon fiber types.
Plastic:
 These propellers have the disadvantage of causing vibration as they rotate, which can affect flight
performance.
 The noise generated from this type of propeller during rotation is also quite noisy.
 However, it is cheap and it becomes a standard for affordable drones and toy drones.
Carbon Fiber:
 Carbon fibers produce less vibrations and minimal noise.
 It is lightweight and have a balanced design.
 Also responsive to high RPM. Hard and sturdy and produce smooth flights.
 The price is more expensive than plastic.

Pitch
 Pitch refers to the tilt of each propeller blades.
 The pitch determines the propeller’s ability in every single round. Each propeller has a label.
 For example propeller labeled 10 × 3.8. Number of 10 is the length of the blade and 3.8 is the
pitch value.
 It can be concluded here that the value of the pitch propeller is 3.8.
 The low pitch is capable of producing high torque and low battery power consumption in
normal motor operation.
 While the high pitch is able to give more thrust and other effects such as vibration during
floating in the air.

Size
 The size of the propeller is determined by the diameter of the blade length from the tip to the middle.
 Big propellers is push more air and respond to input is slow.
 Power of battery consumption is high.
 The advantage of this propeller is that it generates high thrust and can make quadcopter sturdy on air.
 While small-size propellers are able to rotate at a high RPM because it does not have to work hard to
rotate.
 The fast and smooth rotation makes it more responsive to “joystick”.
 Because it is highly sensitive to high RPM, it is less inertia and contributes to the stability of the
quadcopter.
 We can know the size and length information of a propeller by looking at the numbers that are listed on it.
 For example 10 × 3.8. The number “10” refers to 10 inches the length of the blade.

Number of Blades
 The selection of the number of blades is also important for the smoothness and balance
of a quadcopter.
 Can also be classified to the needs of a pilot. If you want aerial photography to be
possible, a propeller with a number of two blades and a large size is ideal for this task.
 Because two large sizes of blades are efficient and also have strong thrusts even rotate
at lower RPMs and make it smooth for shooting.
 Small propeller sized with 3 blades have a high torque that makes the quadcopter more
responsive to the yaw axis.
 Has more lift if compared with propeller 2 blades with the same diameter. 3 blades
propellers are widely used for racing and freestyle quadcopters.

Shape
 Propeller shape refers to airfoil shape.
 Airfoil is the shape of a propeller blade whether it
boils up or lifts, just like the shape of an aircraft
wing.
 The shape and length or depth of the airfoil
basically determines how much lift and drag can be
generated when the propeller turns.
 The arched, larger or steeper airfoil produces more
lifting power.
 However, it also produces a lot of drag that reduces
efficiency.
 We can know the variants of the propellers and
their uses according to the needs of a drone.
 Good construction material ensures a good balance
of propeller rotation.
 To get the efficiency, pitch, size and design of the
propeller must be accurate.
 We can also experiment with the number of blades
to use.
Shape
Air foil

Drone Blade Design: Chord Length Control

Drone Blade Design: Pitch Control

Drone Blade Design: Thickness Control

Drone Blade Design: Camber Control

Drone Blade Design: Skew Control

BRUSLESS MOTOR
 Motor is one of the main components of the drone.
 It works to lift and move drones either floating, forward, backward and
some other movements.
 Actually, the motor has two types of brushless and brushed.
 Here we will only describe the brushless type motor.
 While brushed motor will be explained in other articles.
Why is the Brushless Motor ??
 Most drones use brushless motors because they are powerful.
 It can work non-stop for a long time and has a long-life span.
 It does not need periodic care and it is durable.
 In addition, it is known for its high operating efficiency, making it an
option for high-performance drones.
 There are various types of brushless variants in the market.
 However brushless motors are more expensive than brushed.

BRUSLESS MOTOR
 Main Components (Stator and Rotor)
 Two main components are stator and rotor.
 The stator is the stationary part of the motor (windings) which
serves to produce magnetic field rotation.
 While the rotor is the rotating part of the motor (bell with
magnets).
 It reacts with the force of the magnetic field produced by the
stator.
 Outrunner/Inrunner
 Brushless motor is divided into two types, namely inrunner and
outrunner.
 The difference between the two is the rotating part for the
inrunner is inside and the outrunner of the rotating part is
outside.
 The magnets and stator positions for both motors are different
in which the magnetic inrunner is in the middle and the stator in
the housing and vice versa for the outrunner.
 Outrunner motor is the choice of drone because of its ability to
produce high torque at a low RPM.
 While inrunner motors have a high RPM and low torque maybe
more suitable for aircraft.

BRUSLESS MOTOR
KV value
The Kv value is used to determine the ability of the rotating motor (RPM) on every 1 volt of
electricity passing through it without load.
The formula is the value of motor Kv multiply by the battery voltage.
For example, a 1000Kv motor with 11.1v battery can produce 11,100RPM (1000 X 11.1 =
11100).
Converting to different volts of batteries requires the conversion of the proper propeller size to
prevent overloading on the motor and ESC (Electronic Speed

Controller) damage.
Kv can also be used to determine the torgue of a motor. Low Kv motor have more windings in
the wires allowing more voltage through them in some amperes only, producing high torques
despite using large-sized propellers.
 On the other hand, the high Kv has a less wire winding allowing more
ampere passes through it at just a few volts and rotates the smaller
propeller at high-speed.
 It is very important to understand the value of Kv if you build your
own drone.
 For example, the FPV racing drone requires a high KV motor and a
small propellers to reach speed.
 Whereas the drone carrying camera accessories needs a low kv motor
with a large propeller.

BRUSLESS MOTOR
Motor Size
The brushless motor size is based on the size of the stator (diameter
and height).
The stator is a non-moving part consisting of winding wire.
Each motor has the size information.
The first two-digit code is stator diameter, and the last two digits are
stator high.
For example, if the motor is 2206, it means the stator diameter is
22mm and the stator height is 06mm.
Motor with a wider and higher stator diameter can essentially carry a
high torque.
FPV racing usually will typically use a 1806 or 2204 motor, while the
larger quadcopter designed to carry a gopro action camera will usually
use a motor size of about 2212.
By knowing the size of the motor can help us choose the motor that is
proper to the size of the frame we choose.
We already know the necessary information, the advantages and
disadvantages of brushless motor.
Its popularity for drones can not be denied anymore.
Therefore, we need to know the components and numerical values

such as KV and motor size to be our guide, especially if we want to
build own drones with DIY.

Calculating Our Flight Time
 Finally, we can use the information we have gathered to determine our flight time:
 The capacity of the battery (Ebattery in Wh) can be expressed as the Flight Time (FT) in hours, multiplied by the
generated power (Power in Watt)
The battery capacity (Ebattery) is equal to the weight of the battery (Wbattery in
grams) multiplied by the energy density (sigmabattery in Wh/g).
The total power (Power in Watt) is equal to the weight of the drone (Wdrone (g) =
Wframe (g) + Wbattery (g)) divided by the propellers efficiency (propefficiency in
g/W).
The propeller efficiency is a function of the total weight of the drone divided by the
number of propellers on your drone.

Where
E = capacity
σ = energy density
M = mass in grams (g)

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