Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control

Table 3

Model parameters.

Parameter	Value
Mass (m)	1.316 kg
Length of rotor from COG (l)	0.5 m
Lift coefficient (b)	1.14e^−7 N rad^−1 s^−1
Aerodynamic frictions	0.45 N m^−1 s^−1
Body inertia	3.57e^−6 kgm^2
Gravity acceleration (g)	9.81 m s^−2
Drag coefficient (k)	2.98e^−6 Nm rad^−1 s^−1