Direct Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using Load-cells

arXiv:2607.10099v1 Announce Type: new Abstract: Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce variations in the forces acting on a multirotor and complicate its flight control. Miniature rotorcraft typically rely on simplified modelling of such effects to compute adjustments in thrust to counteract these forces. In the most basic case, disturbance force estimations are derived from the aircraft's motion and the generated thrust is ...