# A Novel Drone Design Based on a Reconfigurable Unmanned Aerial Vehicle for Wildfire Management
## 4 Electronics Design  
### Motors [P80 III Pin KV100]  
Embarking into the realm of UAVs demands an in-depth analysis of components to ensure optimal performance, and among the critical considerations is the choice between brushless and brushed motors. The advantages of brushless motors, ranging from a remarkable power-to-weight ratio to high-speed capabilities, electronic precision, and low maintenance requirements [36], make them particularly well suited for this application. In the complex process of motor selection, factors such as thrust, efficiency, and propeller size play pivotal roles, setting the stage for an informed decision. In many cases, tables of experimental results (Table 1) facilitated the selection of a brushless motor. Each row of the table indicates various elements, such as the current and the efficiency, which correspond to the thrust force. For example, when the exerted force is 4114 g for the T-MOTOR G30*10.5 CF propeller (T-Motor, Nanchang, China), the amperage draw is 7.99 A, while the efficiency is 10.77 G/W. Before proceeding to the motor selection process, it is essential to conduct an initial calculation of the total weight of the UAV, including peripheral equipment. This step is \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Throttle (\%)** & **Thrust (g)** & **Current (A)** & **Power (W)** & **Efficiency (g/W)** \\ \hline \multicolumn{5}{c}{T-Motor G30*10.5 CF} \\ \hline
40 & 2850 & 4.97 & 238 & 11.96 \\
50 & 4114 & 7.99 & 382 & 10.77 \\
60 & 5886 & 13.11 & 626 & 9.41 \\
70 & 7886 & 20.15 & 960 & 8.22 \\
80 & 9835 & 27.67 & 1314 & 7.51 \\
90 & 11,868 & 36.61 & 1733 & 6.86 \\
100 & 14,011 & 46.99 & 2215 & 6.33 \\ \hline \multicolumn{5}{c}{T-Motor G32*11 CF} \\ \hline
40 & 3569 & 6.23 & 298 & 11.97 \\
50 & 4992 & 9.89 & 473 & 10.56 \\
60 & 7188 & 16.52 & 788 & 9.13 \\
70 & 9372 & 24.31 & 1156 & 8.11 \\
80 & 11,734 & 34.44 & 1631 & 7.21 \\
90 & 13,995 & 45.62 & 2152 & 6.52 \\
100 & 16,344 & 58.51 & 2748 & 5.95 \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Data sheet for P80 III KV100 motor with the respective selected propellers. Data from [37]. crucial for computing the necessary thrust that each actuator must provide during hovering. As mentioned in the preceding section, PULSAR has three distinct configurations, each with different technical specifications. For this prototype, the maximum take-off weight (MTOW) of the drone was capped at 25 kg, accounting for all peripheral equipment, to adhere to the A3 open category regulations outlined by EASA for drones. To select the most appropriate motor, all three configurations were considered, ensuring that the take-off weight remained at 25 kg. Each motor must provide a maximum thrust of at least twice the hovering thrust force per motor to ensure the UAV's capability for take-off and altitude increase. Additionally, efficiency is crucial, with higher efficiency values indicating greater thrust per Watt, thereby minimizing power consumption. Considering the rapid evolution of technology, the selection process also prioritizes flexibility for end-users. This includes the ability to attach different and weighier payloads in the near future while maintaining the requirement for each motor's maximum thrust to be at least twice the hovering thrust. In the context of PULSAR prototype, the T-MOTOR P80 III PIN KV100 stood out as the chosen brushless motor, leveraging the robust capabilities of the P-Series motors originally designed for agricultural applications. These motors offer a blend of powerful thrust and high performance, backed by features like dustproofing, waterproofing, anti-corrosion properties, and resistance to high temperatures. As we delve into propeller choices, the drone further demonstrated its adaptability through accommodating various propellers tailored to different configurations, allowing users to achieve diverse technical specifications. The selection required careful consideration of various factors including lift requirements, weight considerations, space constraints, and control demands.