Multirotor Lift Estimation Under Battery Discharge and Blade Faults

During a flight, battery discharge leads to a re-duction in output voltage, in line with the well-known nonlinear relation between battery voltage and its state of charge. This paper investigates the consequences of battery discharge on motor lift and, ultimately, on drone dynamics. The impact of battery voltage variation is then compared to that of blade faults in terms of magnitude, also highlighting similarities and differences. Furthermore, we derive a set of linear regressions and simple nonlinear equations from experimental data to describe the relationships between rotor speed, lift force, duty cycle, battery voltage, and propeller characteristics.