Fig. 01Betaflight5-inch freestyle quadBetaflight + FPVFreestyle4 motors225 mmWeight514 gThrust : weight12.5 : 1Flight time5.2 minProgress0/11
Fig. 02BetaflightTiny Whoop 65 mm1S indoor trainerTiny Whoop4 motors65 mmWeight26 gThrust : weight4.0 : 1Flight time3.1 minProgress0/12
Fig. 03Betaflight3-inch cinewhoopDucted HD camera platformCinewhoop4 motors147.1 mmWeight441 gThrust : weight4.3 : 1Flight time5.1 minProgress0/15
Fig. 04Betaflight7-inch long-range quadGPS Rescue long-range cruiserLong range4 motors315 mmWeight925 gThrust : weight5.8 : 1Flight time15.5 minProgress0/14
Fig. 05Betaflight5-inch racing quadBetaflight + race VTXRacing4 motors221.8 mmWeight443 gThrust : weight13.8 : 1Flight time3.0 minProgress0/11
Fig. 06ArduPilot CopterGPS camera droneArduCopter + Pixhawk 6CGPS camera4 motors450 mmWeight1,600 gThrust : weight2.5 : 1Flight time16.0 minProgress0/14
Fig. 07ArduPilot CopterAutonomous delivery quadArduCopter + Pixhawk 6C + Raspberry Pi 5Delivery4 motors690 mmWeight5,177 gThrust : weight1.9 : 1Flight time16.6 minProgress0/13
Fig. 08ArduPilot CopterAgricultural spray hexacopterArduCopter + Cube Orange+ + RTKAgricultural6 motors1,800 mmWeight33,265 gThrust : weight2.0 : 1Flight time10.1 minProgress0/12
Fig. 09INAV900 mm FPV flying wingINAV elevon wing with GPS return to homeFlying wing1 motor900 mmWeight825 gThrust : weight1.3 : 1Cruise time30.6 minProgress0/15
Fig. 10ArduPilot PlaneVTOL tiltrotorArduPlane QuadPlane, tilt triVTOL3 motors1,200 mmWeight1,585 gThrust : weight2.8 : 1Flight time75.9 minProgress0/12
Fig. 11CrazyflieCrazyflie swarm droneCrazyflie 2.1+, cflib and LighthouseNano swarm4 motors92 mmWeight28 gThrust : weight1.9 : 1Flight time6.3 minProgress0/10
Fig. 12BetaflightTricopterBetaflight TRI mixer + tail servoTricopter3 motors234 mmWeight655 gThrust : weight5.1 : 1Flight time6.8 minProgress0/11
Fig. 13ArduPilot CopterHeavy-lift octocopterArduCopter + Pixhawk 6X + 12SHeavy lift8 motors1,360 mmWeight15,486 gThrust : weight2.3 : 1Flight time16.3 minProgress0/12