This video shows our work on the total thrust modeling and identification using onboard accelerometer and battery level information.
See  for the paper describing the method behind the following video.
- , “Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3341-3346.