Bitcraze Forums

Hi All,

I'm developing a controller based on the thrust. Does anybody know the max lift a single motor can generate for that? I saw in the firmware that the max thrust of all four motors has been assumed to be 60g. So can I safely assume that the maximum vertical thrust that a single motor can generate is 15g and use it to calculate the motor ratio? (But I have a feeling that it could be more than that since cf can lift a maximum payload of 57g and usually it requires more than the weight to takeoff with tilt compensation)

Thank in advance,
Malintha

Hi,
We have done some study on the thrust at some point: https://wiki.bitcraze.io/misc:investigations:thrust it looks like we have measured a max thrust of 57g for all 4 motors.
There has also been some system identification done by universities: https://www.bitcraze.io/research/#publi ... azyflie-20

These should give some idea of how the motors are behaving.

Thanks a lot, arnaud! The system identification study was all what I wanted. If anybody else is searching, this is the function that maps the input value (cmd = 0-65535) to the thrust of a single motor.

f = 2.130295 * 10 ^(−11) * cmd^2 + 1.032633 * 10 ^(−6) * cmd + 5.484560 * 10 ^(−4)