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4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build

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How to choose the right size


motors & ESCs for your Drone,
quadcopter, or Multirotor build
by ANTHONY JACOBS (HTTPS://QUADQUESTIONS.COM/BLOG/AUTHOR/ANTHONY/) on

FEBRUARY 22, 2017 (HTTPS://QUADQUESTIONS.COM/BLOG/2017/02/22/CHOOSE-RIGHT-SIZE-MOTORS-


DRONE/)

in ENGINEERING (HTTPS://QUADQUESTIONS.COM/BLOG/CATEGORY/ENGINEERING/)

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 1/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

Many people have asked me how to properly size your motors to your quad. Especially today, when we
have a ton of available motor options. The following items shold be considered when selecting the
appropriate motor for your racing drone or multi rotor:

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 2/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

Step 1.  Choose Frame type


Your frame type will determine many factors about your drone, such as what size props
you can run, and what size motor you can mount.
The motor size that you need to choose is largely dictated by the size of your drone or quadcopter.
Therefore, the first thing to consider when choosing the right setup is to determine what size drone you
want to you want to build, what size props your chosen frame can run, and what batteries you want to
use. Are you building a racing drone? Freestyle acro (https://quadquestions.com/glossary/acro/) flyer?
Or are you building something to haul a camera and get the best flight time possible?

There are several types of motors available and several Stator


(https://quadquestions.com/glossary/stator/)/KV combinations available. The goal is to build a
balanced, well engineered system which compliments your flying style, the purpose of the drone, and
the drone size.

By properly sizing your motor you will get longer flight times, longer equipment times, less wear and
tear, and lower temperatures.

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 3/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

Step 2. Determine the prop size that your drone will run.
Your prop size will be determined by your frame. So if you choose a QQ190 for instance,
you could run 5″, or 4″ props, but for this example, we will choose to run 5″ props not only
because this is what the QQ190 was designed to use, but also because this is the largest
size that we will be running on our build.

Step 3.  Choose your stator size


A general rule of thumb is to classify your motors first by stator size and then lastly by KV
after other factors have been considered.
We here at QQ have found the following to be a good starting guide for sizing stators to propeller size:
https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 4/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions
Approx QQ Frame Size Prop Recommended Lowest kv Highest kv

diameter Size stator size recommended recommended

150mm & QQ130 3” 1306 3000 4000

smaller

150-250mm QQ166 4” 1806 2600 2800

190-220mm QQ190, Sparrow 5” 2204-2206 2300 2600

R220

220-270mm QQ220 6” 2204-2208 1960 2300

350mm TBS Vendetta 7” 2206-2210 1450 1600

450mm TBS Discovery 8” 2212 1000 1200

450mm & TBS Discovery 9” 2214-2216 900 1000

larger

Step 4. Determine the important factors for your build.


Selecting the right motor comes down to weight, power, efficiency and torque and the importance of
each of these are ultimately determined by your flying style and what you are trying to accomplish with
your multi-rotor build. Ideally, you want to try to engineer your quad to efficiently fly, but also generate
enough thrust without completely destroying your battery. You also want to build your quad for your
flying style. An all-out drag racer is going to have a different ideal motor than a freestyle quad. A motor

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 5/18
4/4/2018 with a larger stator
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inertia. So ideally, you should be able to choose a motor that is efficient, doesn’t draw too many amps,
isn’t too heavy, and has the power to get the job done.

Wept- Weight, Ef ciency, Power, Torque


A good pnunomic to remember is Wept- the guys that didn’t choose the correct motor for their quad
build wept because they cooked their batteries.

The general idea that you want to adhere to is ordering the following weight efficiency power, and
torque in terms of priority for your individual build and flying style. Once this priority has been made,
finding your perfect motor should be easy.

Weight:
A lighter motor is going to have a faster spin-up & slow down, and will yield a faster change in speed.

A heavier motor will take longer to spin up and slow down, and will yield a slower change in speed.

A lighter motor will most likely feel more precise in the air, and pids might be easier to tune.

lighter motors are more prone to damage upon impact, so beginners might be better off with heavier
motors.

If you are doing more straight line racing, a heavier motor might be better, however, if you are doing a lot
of acrobatics & aerial stunts, go for a lighter motor.

The highest performing quads have the best power to weight ratios. Motors can also make up a big part
of that, so keep that in mind as well.

Ef ciency
Efficiency is measured in grams/Watt so think of it in terms of thrust/power required.

Motor efficiency can effect flight times, voltage sag, and battery life. Ideally, you want to try to choose
the motor that is most efficient throughout the range of operation, not just at the highest RPM.

Remember that your battery will have to be able to support whatever amp draw you have at WOT, and
that the smaller the battery, the less capability it has to flow high currents.

A higher KV motor can tend to be more efficient in the high rpm ranges, but at the expense of torque.

Flying style also plays a role when choosing efficiency. For an all out, high budget drag racer that is at
WOT all of the time, efficiency might have less of an impact on your decision, whereas if you are trying
to build a freestyle flyer that gets great flight time, can use cheaper batteries and lower cost escs,
efficiency will have more of an impact for you.

Power:
The thrust output of your motors has a lot to do with which ones to select. Looking at all-out thrust is a
good thing to do, but it doesn’t mean everything. A lighter quad with motors that have less thrust can
feel just as good in the air as a heavy quad that has motors that output max thrust. In the end, you will
want to make sure that you have enough thrust to fly well. A good rule of thumb for a quadcopter is to
aim for a 4:1 power to weight ratio. It is common to see that number double to 8:1 or more in racing
quads.

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 6/18
4/4/2018 To figure your How
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to choose ratio,
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divided by the weight of the quad. For example, the power to weight ratio of the QQ190RTF can be
calculated by taking the max thrust of the QQ 2205 2450 kv motors with HQ5x4x3 props ( 4241.56g )
and divide by the total weight of the quad with Tattu 4S 1300 mAh 75C battery. (471.2g). The result is a
whopping 9:1 power to weight ratio. This is more than double the power needed for acrobatic flight and
can make for a truly awesome flying experience.

We could have chosen motors for the qq190RTF with a higher thrust output to go on this quad, but
this wouldn’t have been a good choice because the motors on the QQ190 only draw 24A at full thrust
with HQ 5x4x3 props. This is important not only to keep our special 2-in-1 ESCs happy, but also to
protect the battery. By using this combination, a 1300 75C battery which can handle 97.5A is perfect for
this quad. Had we used a motor that draws more than 30A, we would have had to redesign our ESCs,
battery recommendations, and possibly the overall design.

Torque
An often overlooked and very important thing to consider when choosing motors is torque. Torque can
effect the time it takes the propeller to reach a desired speed. So a motor with higher torque will be
easier to tune, and will make the quad feel more precise in the air. Stator size effects the torque output,
and larger stators tend to produce more torque, whereas smaller stators produce less.

Advances in mulitoror motor technology such as N52 magnets, curved magnets, tighter clearances, and
.15mm stator laminations are allowing smaller motors to generate more and more torque, and is one
reason that we have seen a shift in racing drone performance in the last few years.

KV is not what you think it is- but it is still important.


This is where things get a little bit complicated. Kv is typically thought of as RPM per volt. While this is
a very good way to quickly calculate unloaded motor speed when voltage is applied, it isn’t technically
the right way of thinking about it. Motor KV doesn’t tell you how powerful the motor is, or how much
current it can handle, or how efficient the motor is! You have to find thrust tests to figure that out.

KV explained:
to think about KV, let’s think about the basics…

When a magnet is pulled over a copper wire, electricity is created in the form of voltage. This means
that when a motor spins, it creates back-emf that can be measured as voltage.

The correct way to think about Kv is to think of it as a motor constant. If you spin a motor, it will
generate 1V at a certain RPM. The resulting RPM is the Kv of that motor.

So, think of it like this:

If a motor generates 1V of back-emf at 2300 RPM, then we can determine that it is a 2300 kv motor. If
the motor were to generate 1V at 1900 RPM, then we would be able to determine that motor to be a
1900 kv motor.

! Remember, Kv doesn’t tell you how powerful the motor is or how much current it can
handle or how ef cient the motor is.

A small motor and a big motor can have the same Kv constant. The large motor will most likely turn out
to be more powerful than the small one. So there is no way to use Kv to tell you how powerful your
motor is. What Kv does do is help us to understand the current requirements of a motor to produce a
certain amount of torque… because Kv is directly related to the torque constant.
https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 7/18
4/4/2018
Torque & it’s relationship to KV.
How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

KV can help us understand the current requirements of a motor to produce a certain amount of
torque…

Without going into too much detail, all that you really need to know is that the torque constant Kt is the
inverse of Kv. So as Kv goes up, Kt goes down.

Kt=-kv

Torque can be calculated using current and kt, the inverse of kv.

Torque=Kt*I

Current, torque and Kv are all related, Lower Kv motors require less current to spin heavy props and
therefore have more torque, but loose efficiency at high rpm-Vice-versa, High Kv motors require higher
currents to spin heavy props, but can run at high rpm more efficiently.

In other words:

High kv motors require more current than lower kv motors to produce a certain amount of torque.

Step 5: Looking up the motor


information:
Now that we know what we should look for, we can start scouring the internet for DATA! Google motor
thrust test INSERT MOTOR NAME HERE.

Prop considerations-
Props can greatly effect performance of your drone, and some props are much better suited to specific
builds than others. Although, beyond the scope of this post, I will only point out that the popularity of
the 5x4x3 has to do with the fact that it is a very well balanced prop in terms of thrust, rpm and speed.
https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 8/18
4/4/2018 This props is perfect for freestyle
How to choose the rightflying, but isn’t
size motors quite
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5×4.5 bullnose prop allowed us to reach higher top speeds than the 5x4x3. For the purposes of this
post, we will try to use 5x4x3 because we are theoretically building a freestyle flyer.

Pick the motor


Let’s say that we think we want to use the ZMX 2205-2300

You need to find a chart of a given motor’s Volts/rpm/Watts to make proper decisions about whether or
not a motor is a good choice for your mulitrotor build. Without the chart, you will really be shooting in
the dark.

Use the chart in step 3 to pick a good stator size starting point, then find a motor that you think will
work. Maybe you like the look of the ZMX Fusion Purple top 2205-2300kv motors. So let’s use them as
an example.

Find the data


The ZMX Fusion 2205-2300kv has been tested in numerous places, and it’s data can be seen here:
check out the miniquadtestbench.com (http://miniquadtestbench.com) for more data.

ZMX
Summary full Fusion
Data throttle 2205-
2300kv
100% Thrust (g) Current (A) Voltage High RPM Pass Efficiency
Prop Avg Max Avg Avg Avg
Max(g) Max(V) Max Min Watts G/W
Tested: Max(g)* (A) Max(A)* Min(V)* Max*
HQProp
723 712 57.80 15.58 15.37 16.68 34562 33351 33504 240 3.0
4x4BN
HQProp
827 815 74.30 20.55 14.91 16.65 32467 30612 31027 306 2.7
4×4.5BN
HQProp
836 830 68.30 18.99 15.05 16.61 33351 31512 31953 286 2.9
4x4x3BN
Diatone
Ghost 953 938 78.10 16.90 15.22 16.58 34149 32590 33014 257 3.6
5×3
HQProp
1032 1017 59.00 21.32 14.80 16.56 31282 30075 30534 315 3.2
5x4GF
GemFan
1115 1102 67.20 23.36 14.71 16.66 30181 28957 29390 344 3.2
5×4.5BN
GemFan
1157 1129 77.90 28.54 14.18 16.60 26702 25210 25961 405 2.8
5×4.6BN
https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 9/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions
HQProp
1177 1151 90.30 25.48 14.49 16.63 28860 27649 28176 369 3.1
5x4x3GF
KingKong
1388 1345 92.10 30.27 13.98 16.57 25510 24144 24768 423 3.2
6×4

Interpret the data


Looking at the data, we can see that this motor with the HQ5x4x3 averages 1151g, pulls 25.48A, and
has an efficiency factor of 3.1

If we look at the same graph, but at 50% throttle, we see that the efficiency goes way up.

50% ZMX
Fusion
Thrust RPMs Amps Volts Watts G/W
2205-
2300kv
HQProp
261 19815 5.15 16.27 84 3.1
4x4BN
HQProp
309 18964 6.12 16.21 99 3.1
4×4.5BN
HQProp
315 18963 6.10 16.19 99 3.2
4x4x3BN
Diatone
336 19826 5.25 16.23 85 4.0
Ghost 5×3
HQProp
385 18741 6.26 16.13 101 3.8
5x4GF
GemFan
438 18286 6.94 16.15 112 3.9
5×4.5BN
HQProp
468 17790 7.54 16.08 121 3.9
5x4x3GF
GemFan
489 17094 8.50 15.97 136 3.6
5×4.6BN
KingKong
565 16817 8.75 15.91 139 4.1
6×4

Compare the options


lets look at the zmx fusion 2206-2300kv blue top motor for comparison.
https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 10/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions
100%
throttle ZMX
Fusion Thrust (g) Current (A) Voltage High RPM Pass Efficiency
2206-
2300kv
Avg Max Avg Avg Avg
Prop Tested: Max(g) Max(V) Max Min Watts G/W
Max(g)* (A) Max(A)* Min(V)* Max*
HQProp
1146 1135 76.10 24.36 14.82 16.67 34013 32345 32739 361 3.1
5x4GF
GemFan
1237 1226 108.90 30.50 14.24 16.54 30832 29254 29754 434 2.8
5×4.5×3
GemFan
1265 1247 104.40 26.10 14.65 16.64 32715 31397 31851 382 3.3
5×4.5BN
HQProp
1332 1308 118.00 30.44 14.26 16.58 30721 29455 29919 434 3.0
5x4x3GF
GemFan
1362 1340 118.00 33.54 14.02 16.60 29055 27919 28233 470 2.8
5×4.6BN
KingKong
1401 1370 116.30 36.24 13.85 16.60 27560 26619 27061 502 2.7
5x5x3HBN
DAL
1403 1390 89.50 33.03 14.14 16.63 29556 28382 28880 467 3.0
5×4.5x3HBN
DAL 5x4x4 1435 1399 98.60 33.27 14.16 16.67 30075 28382 28847 471 3.0
HQ 6×4.5 1546 1502 102.80 39.26 13.54 16.52 25895 24701 25343 531 2.8
KingKong
1643 1603 119.30 36.78 13.79 16.56 27919 26455 26938 507 3.2
6×4

Ok, same prop, generates 1308g of thrust, but it draws 30.44A. :(. The efficiency of this motor is also a
little less than the purple top 2205 2300 KV.

Lets’s check it at 50% throttle.

50%
throttle ZMX
Thrust RPMs Amps Volts Watts G/W
Fusion 2206-
2300kv
HQProp 5x4GF 360 18677 5.86 16.25 95 3.8
https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 11/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions
GemFan
413 18288 6.51 16.20 105 3.9
5×4.5BN
GemFan 5×4.5×3 421 17766 7.22 16.07 116 3.6
HQProp
448 17588 7.43 16.08 119 3.8
5x4x3GF
GemFan
478 17103 8.04 16.06 129 3.7
5×4.6BN
DAL
485 17230 8.08 16.10 130 3.7
5×4.5x3HBN
DAL 5x4x4 495 17172 8.22 16.11 132 3.8
KingKong
514 16384 9.05 15.99 145 3.5
5x5x3HBN
KingKong 6×4 555 16795 8.66 15.98 138 4.0
HQ 6×4.5 595 16194 9.51 15.90 151 3.9

So what can we learn from this? Using the same prop, the 2206 motor takes a lot more current at WOT
because of the larger stator. It is also a power hungry motor at WOT, however, because the stator is
larger, it will have more torque. At 50% throttle the motors both look good in terms of efficiency and
power consumption.

Weight wise, the 2206 weighs 30.5g vs the 2205 at 27g.

How to choose?
Both motors will work, the 2206 are an amazing motor, and so are the 2205s, partially due to the
strong magnets. The 2206 would be a better choice for pushing heavy props, but battery performance
would be put to the test.

What it really comes down to is personal preference. I would run a gemfan bullnose with the 2206
because the efficiency approaches 3.3 and the current drops to around 26A at full throttle. This would
give me the best option whilst still providing me with the greatest torque. However, If using hqprop
5x4x3, then the purple top 2205 is a much better choice.

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 12/18
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

Step 6- Size your ESCs


last, but not least, use the data that you find to make sure that you choose an ESC
(https://quadquestions.com/glossary/esc/) that can handle the current demand that your motor/prop
combination will be requiring at WOT. Give yourself some room here- so if you are drawing 25A, choose
a 30A esc, 18A, choose a 24A esc. Your ESCs will thank you!

CW vs. CCW motors:

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 13/18
4/4/2018
Q: Do I How
need motors with opposite threads on my
to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

counter-clockwise spinning motors?


A: No- Clockwise with locknuts are ne.
Some motors are labeled as CW, and CCW. What this means is that the motor nut and shaft is either
handed CW (right hand thread)or CCW (left hand thread) In the early days of using prop nuts, this was
more important.

In our testing and experience, however, we have found that it is not necessary to use motors with
different thread directions on racing drones and quadcopters. In theory, it makes sense to use a CCW
motor on all of your right hand motors, but in practice, a locknut does a fine job of keeping your prop
tight regardless of rotation.

We have even used locknuts on 3D setups without issue.

Counterclockwise vs clockwise propnuts for multi rotors make no difference. So why not use a motor
that is cheaper, easier to produce, and easier to find replacement parts (CW motor) on all of you quads,
instead of using CCW motors which complicate things?

Conclusion
There is a lot of hype that is influencing people to build quads using strange component combinations,
and the best quad is one that uses components that are well engineered to work together. This is up to
you, the builder to figure out.

Find the motor testing data, and let that guide you through the engineering process. Decide your frame
type, prop size, flying style, and then use the data, your prop choice, and your personal preferences to
determine the best motor for your build. If you still have questions, please post them at
ask.quadquestions.com so that we can help you choose the best motor for your next multi-rotor build.

Remember, A good pnunomic to remember is Wept- the guys that followed the hype train and didn’t
properly engineer their quads wept because they cooked their batteries.

Weight,

Efficiency,

Power,

Thrust,

Happy flying!

  

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 14/18
9 replies on “How to choose the right
4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

size motors & ESCs for your Drone,


quadcopter, or Multirotor build“

ZMX Fusion X20 2300kv Motor Test And Review - Quad Question
(Https://Quadquestions.Com/Blog/2017/04/25/Zmx_x20_2300kv_
June 7, 2017 at 2:44 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-148619)

[…] How to choose the right size motors & ESCs for your Drone, quadcopter, or
Multirotor build […]

REPLY

Veena Bhat
June 27, 2017 at 4:38 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-150996)

How to calculate the motor current if battery current is known. So that motor
power can be calculated.

REPLY

Veena Bhat
June 27, 2017 at 4:44 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-150997)

If we are knowing ESC current rating then how to find the motor current rating for
quadrotor.

REPLY

Anthony Jacobs
(Http://Www.Quadquestions.Com)
June 28, 2017 at 1:24 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-151067)

The motor/prop combo will determine what ESC and battery ratings are required.
Not the other way around. Many people think that the ESC and battery ratings
mean that the motor needs to handle the same current ratings, but this is wrong.

https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 15/18
4/4/2018 YouHow
simply needthe
to choose to right
determine the&current
size motors ESCs fordraw
your from
Drone,the motor/prop
quadcopter, combobuild
or Multirotor and- Quad Questions
then make sure that your ESC and battery can handle the current demand of the
combo.

Gloria Durst
(Https://Genuineauthenticdeals.Godaddysites.Com/Shop?
OlsPage=Products/Breeze-Landing-Gear)
October 17, 2017 at 3:33 pm
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-160681)

I like how you say that you need to consider your frame type when you are
choosing a drone. It would be good to consider if the fans will fit on your frame as
well. My brother is looking for a drone, so he’ll have to choose one that is big
enough for the propellers.

REPLY

Barry
December 6, 2017 at 12:49 pm
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-162901)

Two complaints, you use “WOT” without defining it. I assume it means “wide open
throttle”. Also, the entire article is implicitly written with the assumption of a 4S
battery. I’d like to know how to estimate the amps required at WOT on 5s for a
given set of props and motor KV.

REPLY

Marty
February 14, 2018 at 4:56 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-164476)

1 man, 105 kgs ready to fly. 8 of the biggest motors and blades you can buy
attached to an aluminum frame. Which motor and blades to buy?

REPLY

Lange
March 26, 2018 at 4:26 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-165645)

Im a bit confused about the Torque thing.


https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-drone/ 16/18
4/4/2018 UnderHowthe point “Weight”
to choose you
the right size wrote:
motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

“A lighter motor will most likely feel more precise in the air, and pids might be
easier to tune.”

And than under the point “Torque” you wrote:


“So a motor with higher torque will be easier to tune, and will make the quad feel
more precise in the air. Stator size effects the torque output, and larger stators
tend to produce more torque, whereas smaller stators produce less.”

Did i missunderstood something or is this kind of contradictory?

REPLY

Anthony Jacobs
(Http://Www.Quadquestions.Com)
March 30, 2018 at 1:53 am
(https://quadquestions.com/blog/2017/02/22/choose-right-size-motors-
drone/#comment-165835)

You are right, it seems contradictory, but this means that is is best to use a light-
weight motor that also has high torque. Yes, ” Stator size effects the torque
output” -however, the recent advances in brushless motor technology has led to
lighter, higher-torque motors. So when selecting your motor, you should try to find
a motor with a high power-to-weight ratio.

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4/4/2018 How to choose the right size motors & ESCs for your Drone, quadcopter, or Multirotor build - Quad Questions

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