The camera has a rolling shutter
so as to avoid problems in data processing [32]; high flying heights and slow flying speeds were
maintained, together with a stabilization system. This consists of a gimbal stabilized with two
brushless motors on two axes (roll and pitch) with mechanical and magnetic cardanic damping and
inertial reference with high speed.
Figure 2. UAV hexacopter ESAFLY 2500_WH.
Table 3. UAV specifications.
ESAFLY 2500_WH Manufacturer: SAL Engineering, Modena, Italy
Type Micro-drone hexacopter
Dimension Diameter 100 cm, height 45 cm
Weight 5.4 kg with batteries (maximum weight on fly 9.0 kg)
Engine power 6 electric brushless
Material Carbon with delrin inserts
Payload ca. 3 kg
Flight mode Automatic with waypoint or based on radio control
Endurance
21 min (hovering flight time), 18 min
(acquisition flight time)
Ground Control Station
8-channels, UHF modem, telemetry for real time flight
control, and path tracking on video within 5 km
Flexible camera configurations Digital gimbal with bi-axial roll and pitch control
Possible onboard imaging sensors
Photographic camera,