An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles

Table 3

Main operational parameters of the Q-UAV.

Parameter	Value
Weight	4.50 kg
Maximum payload	1.55 kg
Autonomous duration	25 minutes
Li-Po battery	22.2 V, 20000 mAh
Maximum take-off speed	5.0 m/s
Maximum horizontal transferring speed	7.5 m/s
Maximum altitude	500 m
Maximum radius of action	4900 m
Inertia moment on -axis	51.34-3 kg·m^2
Inertia moment on -axis	51.34-3 kg·m^2
Inertia moment on -axis	11.18-2 kg·m^2
Rotor inertia of motor	36.24-5 kg·m^2
Horizontal distance: propeller center to CoG l	0.515 m