  To properly simulate and implement a quadcopter flight control for intended
load and flight conditions, the quadcopter model must have parameters on
various relationships including propeller thrust-torque, thrust-PWM, and
thrust--angular speed to a certain level of accuracy. Thrust-torque modeling
requires an expensive reaction torque measurement sensor. In the absence of
sophisticated equipment, the study comes up with alternative methods to
complete the quadcopter model. The study also presents a method of modeling the
rotational aerodynamic drag on the quadcopter. Although the resulting model of
the reaction torque generated by the quadcopter's propellers and the model of
the drag torque acting on the quadcopter body that are derived using the
methods in this study may not yield the true values of these quantities, the
experimental modeling techniques presented in this work ensure that the derived
dynamic model for the quadcopter will nevertheless behave identically with the
true model for the quadcopter. The derived dynamic model is validated by basic
flight controller simulation and actual flight implementation. The model is
used as basis for a quadcopter design, which eventually is used for test
purposes of basic flight control. This study serves as a baseline for fail-safe
control of a quadcopter experiencing an unexpected motor failure.
