Bill of Materials

Motors	Motors for the propellers, outside site because it was the most reasonable cost for waterproof motors	https://hobbyking.com/en_us/sp-028450-01-rc-car-motors-3100kv.html
40 Amp ESC	Electronic speed controllers	https://www.amazon.com/RC-Brushless-Electric-Controller-bullet/dp/B0754H7XZZ/ref=sr_1_27?crid=1PN6P93SAD9D1&keywords=esc&qid=1679795224&s=toys-and-games&sprefix=esc%2Ctoys-and-games%2C119&sr=1-27&th=1
Transmitter/Reciever	To send/receive inputs to drone	https://www.amazon.com/FLYSKY-Transmitter-Controller-Receiver-Upgrade/dp/B07Z8VCB45/ref=sr_1_5?crid=3AEGU7P2PMBY7&keywords=rc+radio+transmitter+and+receiver&qid=1679795425&s=toys-and-games&sprefix=rc+radi%2Ctoys-and-games%2C121&sr=1-5&ufe=app_do%3Aamzn1.fos.18ed3cb5-28d5-4975-8bc7-93deae8f9840
Lipo battery pack	To power the drone	https://www.amazon.com/Battery-2300mAh-Vortex-X-Sled-X-Quad/dp/B013I9SEQG
Battery Charger	To charge the battery	https://www.amazon.com/GoolRC-Professional-Balance-Charger-Discharger/dp/B01HXHGARY
Power distribution board	To distribute power to ESCs and motors	https://www.amazon.com/Matek-Power-Distribution-Multicopter-Quadcopter/dp/B071CFKFY1/ref=sr_1_3?crid=M2SMC0S9CUII&keywords=quadcopter+power+distribution+board&qid=1679801997&s=toys-and-games&sprefix=quadcopter+power+distribution+board%2Ctoys-and-games%2C216&sr=1-3
Propellers	To generate lift and thrust required to keep the drone in the air	https://www.amazon.com/Performance-Black-Multi-Rotor-Drone-Propellers/dp/B0734D59QC/ref=sr_1_16?keywords=quadcopter%2Bpropellers%2B8x4&qid=1679966503&sr=8-16&th=1

Code: Analyzing the Arm Length for the Motor

%% Reset
clc, clear all
%% Presetting
% All values corresponding to the first quadrant propeller arm.
% _____ Lengths [mm] _____
% _____ Links _____
l_fix = 200; % Fixed link
l_1 = zeros(100,1);
l_2 = zeros(100,1);
l_1_matrix = zeros(100, 1);

% _____ Disks [radius] _____
l_d1 = 15; % Disk 1
l_d2 = 15; % Disk 2
l_dd = 30; % Distance between two disks
% _____ Height of the propeller from the bottom of the drone _____
h_p = 50;
% _____ Distance between end tip of the links
k = zeros(100,1);
% _____ Angles (Sperical: [theta, phi]) [deg] _____

% _____ Disks configuration _____
theta_dd = [135, 0];
% _____ Links configuration _____
p_e_l_fix = [45, 10];
% p_link_1 = [];
% p_link_2 = [];
% _____ Turning angle of disks _____
t_d1 = 225;
t_d2 = t_d1 + 120; % Phase shift of 120 degrees between 'disk 1' and 'disk 2'
while t_d2 >= 270
t_d2 = t_d2 -360;
end
% _____ Position vector _____
% _____ Origin point _____
% The origin is located on the line connecting centers of the two disks.
p_ori = [0; 0; 0]; % Origin
% _____ Disks _____

% _____ Center of the disks _____
p_c_d1 = [ cosd(theta_dd(1)) * ( l_d1 + l_dd/2 ) ; sind(theta_dd(1)) * ( l_d1 + l_dd/2 ) ; 0 ];
p_c_d2 = [ cosd(theta_dd(1) + 180) * ( l_d2 + l_dd/2 ) ; sind(theta_dd(1) + 180) * ( l_d2 + l_dd/2 ) ; 0 ];
% _____ End point of the disks _____
p_e_d1 = [ p_c_d1(1) + l_d1 * cosd(t_d1); p_c_d1(2) + l_d1 * sind(t_d1); p_c_d1(3) ];
p_e_d2 = [ p_c_d2(1) + l_d2 * cosd(t_d2); p_c_d2(2) + l_d2 * sind(t_d2); p_c_d2(3) ];

% _____ Links _____

% _____ Fixed link _____
p_e_l_fix = end_vec_a(l_fix, p_ori, p_e_l_fix);
% _____ Moving link _____
p_link_1 = [];
p_link_2 = [];

% _____ Error _____
error = zeros(100,1);
%% Composite 3 by 3 matrices vector of each link
% Column 1: Positional vector of starting point of the link [x, y, z]
% Column 2: Positional vector of ending point of the link [x, y, z]
% Column 3: Angles[ existence of the angle( 0 or 1 ), theta, phi]
%% Loop for the matching x, y, and z deviation in the cycle

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