# Single-motor underactuated drone open-sourced: one motor controls both thrust and attitude

- Source: Reddit r/robotics
- Published: 2026-10-18T10:32:50.000Z
- RoboHot: https://robohot.news/en/items/os1ds1vqs0ixaa1me5fj4qsj1
- Original: https://www.reddit.com/r/robotics/comments/1x8zyvp/i_built_a_drone_with_only_one_motor_and_a_poor/

## Summary

The author achieved drone flight with a single motor. The propeller hub is 3D-printed in PPA-CF and features hinges; when the motor accelerates, the blades lag, causing one side to pitch up and the other to pitch down. Through torque pulses timed to the rotor angle 300 times per second, the same motor controls both pitch and roll.