Development of Dual Power Multirotor System

Table 5

Medium-size quadrotor’s configuration for flight time simulation and result.

Battery capacity (Wh)	Battery weight (g)	AUW (g)	Battery resistance (ohm)	ESC internal resistance (ohm)	Battery specific energy (MJ/Kg)	Flight time (minute)
24.42	174	1319	0.0066	0.008	0.5052	5.8
36.63	258	1412	0.0044	0.008	0.5111	7.8
46.62	330	1491	0.0035	0.008	0.5086	9.2
55.5	393	1560	0.0029	0.008	0.5084	10.2
88.8	627	1818	0.0018	0.008	0.5099	13
155.4	1095	2333	0.0012	0.008	0.5109	15.3
177.6	1251	2504	0.0011	0.008	0.5111	15.7