Multirotor Drones: Chapter 1
1. Prerequisites
Kinematics, Dynamics, linear algebra, pid control, mpc, sensors and sensing
2. General Motivation
Chapter 1 : System Architecture & Component Modeling
1.1 Frame/Airframe
Fuselage, arms and landing gear, duct.
material, weight, flexibility
1.2 Propulsion system
Actuators
types of actuators (servo, dc)
brushless motors, max current/power, motor efficiency
electronic speed controllers (ESC)
Propellers
Type, chord length, moment of inertia, number of blades, material (safe rotation rate before deformation), efficiency (propeller specific thrust)
Power System
Battery types and management voltage, discharge capacity, internal resistance, discharge rate, energy density
modeling
flight time, max payload, max flight speed
Sensors/Perception
IMU, gyroscope, magnetometers, pressure sensors, airspeed sensors, GPS, camera, lidar,
Communication Systems
R/C receiver: frequency, modulation, channels, remote control distance,
wifi, 5G
Ground Control Station
Autopilot
Microncontroller & attitude sensors to control attitude, position and trajectory
GPS, IMU, barometer, ultrasonic