When starting to assemble a copter we first started by choosing a suitable frame to fit the equipment. A 65cm square frame was chosen to get space for the sensors between the rotors. Next step was to choose motors and propellers to get enough lift for our payload at a comfortable throttle setting, the NTM propdrive 28-30S motor with TGS 12x6 propellers and a 4S LiPo battery. This would give us enough lift for 3kg of payload at full throttle which means we should be able to fly with 1kg payload at a reasonable throttle setting. ESCs where chosen to handle the battery voltage and the amperage of the motors, Afro 30A fit these requirements and also runs th open source software SimonK which allows a lot of settings. The last step was to choose battery seize and discharge rating to handle flight time and current delivery. We wanted to at least 5 minutes of flight time so we chose a Zippy 8000mAh 30C battery which would give us 6 minutes of flight at full throttle and more than enough current delivery.
