04. Coupling

C3 L3 02 Coupling V2

Consider a 2D drone (mass m) inlined at some angle \phi. How much thrust is required to support this drone in the vertical direction?
SOLUTION: u_1 = \frac{mg}{\cos \phi}

In reality, a drone has a maximum total thrust u_{1,\text{max}} that the 4 rotors can provide.

In terms of u_{1,\text{max}} what is the maximum roll angle, \phi_{\text{max}}, at which a drone can still support itself vertically (without losing altitude)?
SOLUTION: \phi_{\text{max}} = \cos^{-1} \left( \frac{mg}{u_{1,\text{max}}}\right)

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