Multirotor dynamics and recovery

Recovery simulation and analysis of third-party flight observations

Visualized attitude and altitude recovery in three selected wind scenarios, with synchronized motion and response plots.

Drone recovery under changing wind. Three simulated recovery configurations under changing wind, with aircraft motion and response plots shown together. The two stronger-gust cases use a higher roll/pitch torque command limit within the same modeled motor limits. Attitude and altitude recover while horizontal drift remains. Playback is at half speed.Open or download the original video

results and contributions

Recovery demonstration	Three simulated wind scenarios with synchronized aircraft motion and response plots
Complete altitude responses	20
Discharge recordings analyzed	1
Deliverable	Reproducible response extraction and tracking plots

Repository Evidence at source commit Current roadmap Recorded altitude-response analysis

figures and hardware

Open any image at full size. Source links identify the retained revision.

**Third-party flight observations.** 20 complete responses from one QDrone2 discharge. Repeated steps are not independent batteries or recovery trials. Data: Borbolla-Burillo et al., Zenodo 19464105, CC BY 4.0; analysis and plot by this project.Full-size image Image source

design evolution

The design and analysis steps that produced the current work.

Work	Engineering question	Approach	Outcome
Designed aircraft and V995	Connect recovery dynamics, vehicle geometry and a fixture concept.	Developed simulations, CAD and fixture records; retained them as exploratory work.	Produced recovery simulations, aircraft CAD and fixture documentation.
NanoBench replay	Determine whether public flight records support replay and identification.	Audited collection timing and the deployed vehicle configuration.	Documented timing and configuration dependencies needed for reproducible replay.

methods and scope

The video uses estimated aircraft and aerodynamic parameters and selected recovery configurations; it establishes no physical wind rating or flight validation. Separately, the QDrone2 repeated steps share one battery discharge, and voltage co-varies with elapsed time. These are tracking observations without independent recovery-failure labels. Testing the warning requires independently measured maneuvers across batteries and conditions.

project record

Evidence	Recovery simulation and analysis of third-party flight observations
Status	In Progress
Timeline	2026
Role	Recovery-controller development, simulation visualization and public-flight response analysis
Tools	Python, NumPy, SciPy, Matplotlib

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