A BEMT-based rotor thrust estimator calibrated with one scaling factor per rotor, combined with a feedforward PID thrust controller, improved wind robustness in outdoor quadcopter flights relative to the standard quadratic thrust map.
Influence of the ground, ceiling, and sidewall on micro-quadrotors,
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A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles
A BEMT-based rotor thrust estimator calibrated with one scaling factor per rotor, combined with a feedforward PID thrust controller, improved wind robustness in outdoor quadcopter flights relative to the standard quadratic thrust map.