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DESIGN AND FABRICATION OF PESTICIDE SPRAYING QUADCOPTER
Lijalem Gebrehiwot*1, Abenezer Zegeye*2, Gedlu Solomon*3,
Bethelhem Nigussie*4, Eden Abeselom*5, Bethelhem Girma*6
*1,2,3,4,5,6Aerospace Engineering R&D, Ethiopian Space Science And Technology Institute,
Addis Ababa, Ethiopia.
ABSTRACT
The purpose of this paper is to put basis information and parameters which are required for the actual detail
designs of a Quadrotor. We propose a ESSTI model pesticide spraying Quadrotor in which all the four engines
(motor-propellers) are situated on the above of the frame. All the airframe designs and parameters are new and
customized in domestic products. The electronic/electrical components to be customized and calibrated to
satisfy the performance of the new Quadrotor. Regarding to the dynamic, kinematic and aerodynamic modeling
they are performed after detail design phase and complete 3D model. The Quadrotor basic airframe dimensions
are determined including the individual components. All the necessary equipments, weight analysis and cost
estimation are tabulated and calculated which helped greatly while designing the Quadrotor. The main features
of this design are to manufacture a pesticide spraying Quadcopter with four transverse bamboo sticks as a
boom. The hollow bamboo can accommodate the ESC and wiring to motor-propeller assembly. The bamboo and
other frame parts are found locally and make the cost cheaper. The detail design, mathematical analysis and 3D
modeling are analyzed in result and discussions. We take some estimation to design the Quadrotor.
Keywords: Quadcopter, Pesticide Sprayer, Design Analysis, Quadcopter Motion, Mathematical Modeling.
I. INTRODUCTION
A Quadcopter, also called a Quadrotor helicopter are a multicopter that is lifted and propelled by four rotors.
The lift is generated by a set of revolving narrow chord airfoil. A quadrotor is a multicopter that is lifted and
propelled by four rotors [1]. The airframe design types of a quadrotor differs depending the number of arms
(booms) and motor assembly such as tricopter, Quadcopter (with x and + configurations), Hexacopter,
Octocopter and other configurations. Nowadays there are different designs of Quadrotor which are used for
different purposes [2].

Figure 1: Main components of a Quadcopter [3]

1-Canopy 2-Blade (propeller) 3- Brushless motors 4- Landing skid 5- GPS antenna 6- Control board7- Li-Po
battery 8- Frame 9- LED lights (front) 10- LED light (Back)
Manual spraying of pesticide and fertilizers cause a number of chronic diseases [4] to rural areas. Agriculture is
the backbone of the Ethiopian economy and is not modernized very well. There are modern technologies that
greatly help Ethiopia’s farmers such as the drone applications with various benefits like farm assessments and
preserving farm conditions namely checking for weeds, watering, seed spray, bacteria, and chemical spray e.t.c.
In the current need of the country, the project is of Quadcopter pesticide sprayer is found to be important. It
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will have dual benefits for agricultural fields and prevention of locust infestation as optional. The major
objective of this project is to create a quadrotor system which has a better agility, stability, endurance with
optimal payload capacity of spraying pesticides which can cover visible areas. The Quadcopter pesticide
sprayer system consists of; The Quadcopter and the spraying mechanisms with a brushless motor [5]. From the
function of the Quadrotor, it is wise approach to map systems and subsystems. This made easier to design a
Quadcopter which fulfill the basic function and the basic equipments [6].
a) Basic components
The flight controller transmits signals to Electronic Speed Controllers (ESCs) and the transmitted data changes
the motors rotational speeds which in-turn is responsible for the stability of the Quadrotor. They are designed
to control the speed and direction of a motor and there are different features for various applications [7]. The
ESC has wire ports in both sides namely; the power input wires, 3 bullet connectors and 3-pin R/C servo
control.

Figure 2: Brushless ESC [8]

Battery used in quad rotors nowadays is Li-Po (Lithium-Polymer) batteries. Li-Po has high capacity-low weight
with a high discharge rates. Small battery packs range is 0.1Ah (100mAh) though the medium sized drones 2-
3Ah (2000mAh-3000mAh) [9]. The receiver on a quadrotor is an electronic device that uses built-in antennas
to receive radio signals from the Quadcopter controller. Receiver is connected to the flight controller which
should be programmed to receive RC signals [10]. A flight controller is a circuit board that manages the drone’s
flight and has DCU support for Quadcopter, Hexacopter and Octocopter agriculture spraying GPS. The flight
controller consists of T-1A, GPS, PMU, DCU and LIU [11].

Figure 3: Flight controller T1A

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The flight controller is basically the nervous system of the drone and receives raw information from the drone.
It is transmitted via the receiver and then makes the corresponding movement to the drone’s rotors. Some
flight controllers are configured and programmed by operator, but this requires a fairly in-depth level of
knowledge [12]. Flight drone controllers are typically titled to include their main microprocessors model and
STM electronics 32-bit microprocessors are more popular. The STM32 F1, F3, F4, and F7 are considered the
most common models [13]. Radio transmitter is an electronic device that uses radio signals to transmit
commands wirelessly via a set of radio frequency over to the radio receiver. It can also define as the device that
translates pilot’s commands into movement of the multi-rotor.
Radio transmitter transmits commands via channels an every switch or knob on the transmitter uses one
channel to send the information through to the receiver [14]. A receiver and radio transmitter are compatible
products; this means the same brand of Rx and TX need to be purchased in order to establish a communication
[15]. The motors have an impact on the Quadcopter payload which it can support and the flight time. The
Quadrotor motors in which the propellers are connected are made them to spin around to generate thrust.
They are connected into three main sections which are why all brushless motors have 3 wires coming out of
them [16]. Propellers are either designed to rotate clockwise or counter-clockwise and it is important to
understand which part of the propeller is intended to upwards. Technically, the top of the propeller always face
to the sky [17]. The opposing yaw motion cancels each other out in flight [18]. The pre-Loaded trajectory
provides the real time coordinates to flight controller loaded program and as a result GPS coordinates the
microcontroller navigates a Quadcopter [19].
b) Precision Agriculture
Precision agriculture helps the way farmers manage their crops to yield product using drone technology for
pesticide spraying, watering and fertilizer. In order to maximize the productivity, quality, and yield, it is
recommended to minimize pests, unwanted flooding, and disease.

Figure 4: Multiple types of agricultural UAVs: harvesting UAV, spraying UAV, conventional UAV,
mapping UAV and sensing UAV [20]
According to the Food and Agriculture Organization of the United Nations (FAO) and the International
Telecommunication Union (ITU), the world should increase the food production by 70% by 2050 due to
population growth. This problem can be solved with PA done by the Unmanned Aerial Vehicles (UAVs) and
Wireless Sensor Networks (WSNs) which can lead to valuable and at the same time economic Precision
Agriculture (PA) applications. This includes aerial crop monitoring and smart spraying tasks [21]. Yamaha
RMAX was the first drone for spraying crops with far more precision than a traditional tractor. There are many
different quadrotor designs used in pesticide spraying applications [22].
Top XGun robotics has produced a professional flight controller T1-A is a combining main function of
agricultural UAV in current market. It can be installed on a variety of models and has the functions such as

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intelligent mode, dose detection, resume spray function, precision spraying, and low voltage protection, fail safe
and go home. Schematic diagram for the recommended sprayer is shown below [11].

Figure 5: T1 Hardware connection diagram

Quadcopters can range from small drones that fly on a single charge for 10 minutes to big Quadcopters that can
fly much longer and cost much. Some of the drones are operated by controllers, while others by operator’s
smartphone or tablet. Basic elements in drones are frame, propellers, BLDC motor, battery, electronic sensors,
GPS, payload (camera or spraying system).

Figure 6: Block diagram of a Model pesticide spraying Quadcopter [23]

c) Quadrotor Pesticide Spraying System
For the pesticide spraying mechanism we use main tank, with submersible DC motor pump, battery, and switch,
pipes fitted to T-split and mini nozzles. As soon as the switch is turned on, the motor pumps the pesticides
through the pipe. The pipes then supply the pesticides to the nozzles via the T-split so that it sprays with a
certain pressure and uniformity by avoiding wastage [24]. A model pesticide spraying Quadcopter mainly
consists of the following components as shown in the figure below.
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Figure 7: Block Diagram of an Automatically Controlled Drone Based Aerial Pesticide Sprayer
The motor driver circuit is used to control the speed of spraying and pesticide level indicator circuit with
buzzer for detecting the level of pesticide fluid. There are many challenges in Agri-drone development in Africa
and listed out as follow [25];

Figure 8: Agri-drone development challenges in Africa [25]

II. METHODOLOGY
The major task of this project is to design a quadrotor system which has a better stability, agility, endurance
with better payload capacity of spraying pesticides which can cover visible areas effectively. It started with new
Quadcopter Concept design system & subsystem mapping, identifying each component in the drone. Estimating
the performance parameters of the new model. The new model will operate with fixed brushless motors
installed on main bamboo transverse beams fixed on the central frame (casing). The covers of the quadrotor
can be made from composite sheets. All its aerodynamic cover is easy to manufacture and assemble. In order to
assure its stability a balancing holes will be available for weight balance. All the necessary part & 3D model
designs, simulation and mathematical modeling done to get best and smooth operation of spraying.

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a) Mapping of systems and subsystems
From the function of the quadrotor, we map systems and subsystems so that we can easily design in order to
fulfill the basic function. So the quadrotor will be designed from this mapping point of view. (See figure below).

Figure 9a: Quadcopter sub-systems

b) Simple Quadcopter Systems Mapping
The newly designed pesticide spraying Quadrotor is assumed to have some basic components to accomplish its
main spraying tasks and the main components included in the model project are shortly put diagrammatically.

Figure 9b: Quadcopter components mapping

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c) Model estimated parameters
ESSTI model Quadcopter design configuration, requirements and parameters.
Table 1. Basic Quadrotor Model Parameters (Expected Parameters)
Basic data Values Remark
Total weight Maximum.
Weight The range can be from 3Kg-9Kg
8 Kg
depending on electronic equipments
Payload 5Kg Maximum
Altitude 7m Maximum
Range Radius of 400m For the control signal
Speed Capable of hovering, slowing down,
90kph
speed up depending on its task
Wind speed 54kph Not preferable if it exceeds this value
Endurance 20 min

III. MODELING AND ANALYSIS

a) Quadcopter Motion
Basically the motion can be clearly described in 3-axes. The yaw, pitch and roll motion and they can be
controlled by ESC with desired changes in motion and direction of the Quadrotor. The motion digram below
shows how speed change by ESC can control the motion with help of transmitter control [26].

Figure 10: Quadcopter motion

b) Reference Frames
The ESSTI Quadcopter modeling environment is illustrated in the figure below where E is the earth frame and B
is the body frame reference point shown in the figure. This frame is related to the modeling motion and forces
in which the model is flown and is orientated so the XY-plane is in the floor (earth reference) with the z-axis
pointing upwards. The vector reference in the E frame will be referred as E a and those in the B frame as Ba.
Theoretically, the model is able to rotate around all three body-axis and the sign of the rotations have been
defined based on relation to the input commands from the wireless link. It is logical that the positive inputs
result in positive right-hand rotations and vice versa [27].

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Figure 11: Body and earth reference frames of the model Quadcopter
The Quadcopter translational motion requires tilting the platform toward the desired axis and the reference
angle of the Quadcopter is given by the pitch, roll Ø, and yaw 𝜓 with the convention of movement in three
dimensions in 3D. Changing the speed of one of the pair of motors as to cause motion in six degrees of freedom
(6DOF). This made the Quadcopter to move in six DOF and be controlled just with four inputs [28].

Figure 12: Quadcopter model Movement in 3D

c) Quadcopter Maneuvering
Rotors 1/3 are rotating clockwise where as 2/4 rotate counterclockwise. Newton’s second law of motion are
given at 1 and converted to rotational analogue to the law 3.2.

Figure 13: Quadcopter hovering

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F is the total applied force to a rigid body and a is the linear acceleration with m as the mass of the body. τ, J, α
is the total torque exerted at the body, body moment of inertia and the angular acceleration respectively.
∑ (1)
∑ (2)
When the model is in perfect hover, it is in both perfect force and torque balance of rotors. Since the rotors are
of the same design and equal angular velocity, it will result in equal thrust and torque.
Roll is when the model performs a rotation around the x-body axis. This is achieved by changing the angular
velocity of the rotors. The roll on y-body axis is by rotor 2 and 4 while maintaining the same angular velocity on
rotor 1 and 3.

Figure 14: Rotation around the x-body axis or roll

Pitch is when the model performs a rotation around the y-body axis and this is achieved by changing the
angular velocity of the rotors on the x-body axis. This is done when rotor 1 and 3 maintain the same angular
velocity on rotor 2 and 4. When the pitch is increase the angular velocity of rotor 1 and decreasing the angular
velocity of rotor 3 results in rotation around the y-body axis [27].

Figure 15: Rotation around the y-body (Positive pitch)

Yaw is when the model performs a rotation around the z-body axis by mismatching the torque generated by the
model rotors and the net torque acting on the platform body is zero during flight. If the torques applied along
the axis is mismatched the platform will perform a rotation around the z-body axis. If the desired rotation is
positive the yaw is performed by increasing the angular velocity of rotor 2 and 4 while decreasing angular
velocity of rotor 1 and 3.

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Figure 16: Rotation around the Z-body axis (Positive yaw)

d) Forces and moments
The forces and moments on the Quadcopter on the Figure 16 are created primarily due to the gravity on the
four propellers. As a result each motor exerts an upward force F and a torque  and the total force of the
Quadcopter is given by the sum of all the forces represented as;
Ft= ∑ (3)
The same principle applies to the torque;
t= ∑  (4)
Considering this the rolling, pitching and yawing torques are defined as;

[  ] [ ] (5)
    
e) Quadcopter Ideal Modeling
The mass model of the Quadcopter components are estimated as single integral parts.

Figure 17: Quadcopter ideal models

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Figure 18: Forces and moments on the Quadcopter (ideal)

The force of gravity is also exerting a force on the vehicle frame Fv of the Quadcopter and has an influence on
the z direction. In order to match this force with body frame F b, it is necessary to multiply by the respective
rotation matrix [29].

[  ] (6)

Finally rewriting eq. 13, we express the linear acceleration on the body frame as eq. 3.7
̇
[ ̇ ] [ ] [ ] [ ] (7)
̇ ∑
f) Mathematical Modeling
Brushless motors are more preferable for Quadrotor due to their high efficiency and motors can be modeled as
a permanent magnet DC motor inside the framework of a three-constant model and requires the knowledge of
the supply voltage, current through the motor coils and the back-electromotive force with additional required
parameters such as the armature resistance, and the shaft angular velocity [30].
Supply voltage (V) -Vk
Motor coil current (A) - ia
Back electromotive force (V) - ea
Armature resistance () - Ra
Shaft angular velocity (rad/s) - 
Therefore the motor equations can be expressed as:
Vk= ea + ia Ra (8)
ea = Ke ω=KT ω=N/KV (9)
Where
Ke is the motor back EMF constant (Vs/rad),
KT is the motor torque constant (Nm/A),
N is the motor rpm, and KV is motor speed constant (rpm/V).
KT is related to KV by:
Ke =KT =30/(πKV) (10)

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The output torque is given by:
Mmot =KT (ia-io) (11)
Where io is the current at zero load
The motor input power is described by:
Pm=Vk ia 3.12
The motor output power is:
Pmot= Mmot ω= KT (ia-io) ω= (Vk- ia Ra) (ia-io) 3.13
The motor speed in rpm is expressed by:
N= (Vk- ia Ra) KV (12)
The thrust coefficient is given by:
CT = T/ ρ (N/60)2 D4 (13)
Where
T is thrust (N), ρ is air density (kg/m3), N is propeller speed (rpm), and D is propeller diameter (m).
The power coefficient is given by:
Cp = 2 π CM = P/ ρ (N/60)3 D5 (14)
Where
P is power (W) and CM the torque coefficient.

Figure 19: Simplified motor system

JTM The total motor moment of inertia
̇ M [rad s−2] is the motor angular acceleration,
TM [N m] is the motor torque and
TL [N m] is the load torque.
KE [V s rad−1] is called the motor constant
= Ri+KE ̇ (15)
JTM ̇ =TM-TL (16)
The motor torque TM is proportional to the electrical current i through KM [N m A−1]:
TM = KM i. Hence equation (3.18) can be rewritten according to equation (3.19).
JTM ̇ =KMi-TL (17)
By connecting equations (3.17) and (3.19) a differential equation in M can be derived.
JTM ̇ =  - TL+  (18)
It must be pointed out that the two constants KE and KM have the same value even though the units of
measurement differ. This difference comes from the electric PE [W] and mechanic PM [N m s−1] power balance.

{ } (19)
 
g) Aerodynamic Modeling
The aerodynamic modeling gives a brief overview on how to calculate the thrust b [N s2] and the drag d [N m
s2] factors generated from the propellers motion using a combination of momentum and blade element theory.

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The rotation of the propeller creates aerodynamic and mechanical contributions to the structure [32]:
 Thrust is the aerodynamic force which is produced in the direction of the propellers and this required to
overcome the drag and weight forces. This made the drone to sustain the forward flight of the vehicle.
 Drag torque acts on the blade elements around the rotor shaft and is a result of the aerodynamics forces.
The Figure below shows how these force components act on a propeller. The thrust force, T BET [N] and the drag
torque, QBET [N m] according to the blade element theory. P [rad s−1] is the angular speed of the propeller.

Figure 20: Aero thrust torque

The thrust factor b can be estimated with different approaches. At the end of this chapter a mean of these
components will be done to get the average value of the thrust factor in order to estimate b with blade element
theory (bBET [N s2]), is necessary to describe the thrust TBET as a function of P in the equation below.
 ( ) (20)
Since the thrust TBET is proportional to the square of the angular speed of the blade P, it is possible to
determine the ratio of TBET to 2P, which is the definition of the thrust factor.
( ) (21)


The value of b can be also be evaluated by applying the momentum theory. The thrust factor with momentum
theory bMT [N s2] in hovering is simply the ratio of the weight carried from one propeller WP to the squared
propeller speed 2H as shown in equation (6.48).
(22)


To estimate the drag factor d, is necessary to describe the torque acting on the shaft Q BET in function of the
angular speed P. Equation (6.49) shows this relation.

( ( )) (23)

As for the propeller thrust TBET, the torque QBET is proportional to the square of the angular speed of the blade
P. It is possible to determine the ratio of Q BET to 2P, which is the definition of the drag factor d. The numeric
result can be provided by equation (6.50).
 
d= = ( ( )) (24)


Unlike the b, the drag coefficient d was estimated just with blade element theory; hence, no subscript was
applied [31]. Model and Material which are used is presented in this section. Table and model should be in
prescribed format.

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IV. RESULTS AND DISCUSSION
a) Mass Estimation
All the components required on the pesticide spraying Quadrotor are identified. Total weight of the Quadrotor
(weight of the airframe and components) are put in detail in the following table. This helped to select motor
and propeller types.
Table 2: Weight Distribution for Calculating Hover Power
PART TOTAL MASS (G)
Frame(All) 3400
Receiver
210
Controller
4x Multi rotor Speed Controller 90
Propellers (2xCW, 2xCCW) 120
Li-Po battery 340
2x Pin headers 50
2x Pin header rows for TBS 56
4x brushless motors (with 670
mounting
Pesticide tank andscrews)
plastic hoses 270
Total pesticide payload 5000
Sprayer 100
Other hard-wares 120
Total mass 10426gm
b) Takeoff weight calculation
Takeoff weight of the Quadcopter is the overall gross weight, which includes payload weight battery weight,
structural weight including all the electrical harnesses and electronic systems.
Table 3: Quadcopter Model Basic Parameters
Total weight (TW) 10.426 kg
Flight time (FT) 20 minutes
Thrust to weight ratio (TWR) 2
The solution derived is by iterative process of assuming the value and finding the unknowns.
(25)
(26)
For 20.852 Kg thrust with best-case scenario of 200 Wh/kg energy density and 10000mAh/25C charging rate;
the required voltage of 44.4V/10Ah battery is suitable.
c) Propeller and Motor selection
The total weight of the Quadcopter is 10426 gm and the propeller wind sweep area should carry a lifting force
of 2606.25gm minimum for each props. The total lifting force is 10426 gm. Considering many external forces
with some safety margins taken as 35% the actual weight supported will be 14075gm of design value. Referring
to the motor-propeller performance table of manufacturers’ data sheet for the required motor type and
propeller sizes, the brushless DC motor EA100 EAGLEPOWER T10 with maximum thrust of 20Kg is used for
large load agricultural drone. The selected propeller is UP2280 (22*8) model which has a length of 558.8mm
with pitch 22 inch. Each of these motors and propeller combination will have best wind sweep area to carry the
load supported by arm.

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Figure 21: Quadcopter weight supported by each propeller at stand still

d) Selection of ESC
The motor speed as well as motion control of the Quadcopter is controlled by ESC. The four ESCs for four
motors have specific ranges of current to be set according to motor performance parameters. For the specific
selected motors, these values were 14.8 - 22.2V power supply which support a maximum of 18.6 A.
e) Bamboo stick
Bamboo trees are known for their strength to weight ratio and they have a wide applications in different areas
and easily affordable. It is a preferred material to be used in our Quadcopter airframe as a boom to carry the
motor-propeller assembly and total weight of the machine.

Figure 22: Bamboo boom used for Quadrotor

f) System Diagram
The ESSTI model design of the Quadcopter is primarily for pesticide spraying. This consists of the Quadcopter
and pesticide spraying systems.

Quadcopter airframe and

systems

Pesticide spraying
Systems
Figure 23: Quadcopter model system main block diagram

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1. ESSTI Model Quadcopter Detail Parts Drawing

Figure 24a: ESSTI Model Quadcopter

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Figure 24b: ESSTI Model Quadcopter

Figure 24c: ESSTI Model Quadcopter

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Figure 24d: ESSTI Model Quadcopter

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Figure 24e: ESSTI Model Quadcopter

2. AUTODESK 3D design development for the model Quadcopter
The software design used for this particular Quadcopter is AUTODESK and the simulations of some components
and the whole frame is transported to SOLIDWORK to perform some analyses and dynamic effects. The detail
components of any Quadcopter models include different basic parts. The Quadcopter model detail parts
drawing with AUTOCAD are shown in Appendix F.

Figure 25a: Developing Quadcopter 3D model

Figure 25b: Developing Quadcopter 3D model

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Figure 25c: Developing Quadcopter 3D model (central frame)

Figure 25d: Developing Quadcopter 3D model (arm)

g) Selected Quadcopter components for the model
With detail mathematical modeling and weight analyses, the basic components that fit the airframe of ESSTI
model Quadcopter is tabulated from the reverse engineering.
Table 4. Lists of Equipment (Hardware Components)
S/N NAME DESIGNATION QTY
EA100 EAGLE 4motor/
1 Motor (Brushless) & ESC
POWER T10 4ESC
2 Propeller (folded) UP2280 (22*8) model 4
Li-Po 10000mAh/25C
3 Li-Po battery 1
(44.4V/10Ah )
Transmitter or remote 2.4GHz Futaba T8F
4 1
controller (Futuba T8FG)
Main circuit boards
R6208SB Receiver
-Receiver-Flight controller
Full set of
5 -LED SET
Eagle brother
-Compass
3WD-TY-D10 model
- GPS receiver& antennae
6 Beep alarm 1
8 Pesticide tank Agriculture drone spray system 1
accs Nozzle + pump + Buck type
Drone sprayer (pump) 1
governor adapter + Pipes combo
9 Spraying nozzle for 10L Agricultural UAV 4pcs
10 Tank-nozzle accessories Set

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11 Spraying bar (stick) Width: 1600mm 2

For Eagle brother
12 Battery charger 1
3WD-TY-D10 model
Other cables ,connectors For Eagle brother
14 sets
and adapters 3WD-TY-D10 model
V. CONCLUSION
The main purpose of this paper is to design new pesticide spraying Quadcopter which will have great benefits
for Ethiopian farmers for the health of their farms and other crop protection methods. It is easily manufactured
structures and compatible to the farm sizes. The spraying mechanism selected is more efficient with almost
zero losses to save the cost of chemical wastage and efficient spraying. The main outcome of the project is to
develop a Quadcopter with a controller to control its attitude in accordance with the wind speed and other
environmental factors the affect spraying. The components are compatible to each other for effective operation
of the Quadcopter. The actual selection of motor-propeller matching smoothes the vehicle dynamics. Structural
simulation is also performed to visualize the smooth stability of Quadcopter which will be more addressed in
other paper. The design, modeling and selected components assure stability of the vehicle in all direction. In the
future the vehicle can be upgraded with software for autonomous flight. Smart spraying will be research will be
adopted to select the affected areas or farms.
ACKNOWLEDGEMENTS
We have confronted with many people while performing this research paper and received some valuable
support and comments. However we are greatly indebted to Dr. Yeshurun Alemayehu for his valuable
comments and directions to finalize this paper and manufacture a prototype of ESSTI model Quadcopter. We
are greatly indebted to Ethiopian Space Science and Technology Institute (ESSTI) for its financial support and
encouragement for researchers. In addition to this we would like to convey our gratitude to Aerospace
Engineering Research and Development Directorate colleague (researchers) for their encouragement and
support to finalize this project.

ESSTI Aerospace Engineering R & D directorate participated in this project

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( Peer-Reviewed, Open Access, Fully Refereed International Journal )
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