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139	139	=== Accessories ===
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141		-The types of accessories to connect to the frame are at the discretion of the designer. Components can be added above the frame or below, and a universal mounting plate is included. The length of the landing gear was selected in order to accommodate both a battery below the center frame as well as a standard two axis gimbal. For three axis gimbals, note that the distance between the bottom of the center frame and the ground is ~_~_~_~_.
	141	+The types of accessories to connect to the frame are at the discretion of the designer. Components can be added above the frame or below, and a universal mounting plate is included. The length of the
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143		-The Lynxmotion Servo Erector Set (SES) pattern has been incorporated into several positions on the frame. This pattern allows SES compatible hardware (brackets, C-channels and accessories) to be connected to the frame and used as universal mounting points. When mounting accessories, be check the center of gravity of the entire assembly and ensure it is at the very center of the drone. Should there be a weight imbalance, certain motors may need more power than others, and the flight characteristics may change significantly.
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145	145	=== Battery ===
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147	147	The MES frame supports using either one centrally mounted battery (below or above the main frame) or two batteries mounted on either the landing gear tubes or above the center plate. In a two battery configuration, we strongly recommend using identical batteries to ensure weight balance and uniform discharge. Note that both batteries should be fully charged before use, and your method of power distribution should support a two battery configuration. The battery is held in place by rubber foam and velcro straps, which supports a wide variety of different sizes. The battery's voltage should ideally match that of the BLDC motors selected, and the continuous discharge current rating ('C' rating) should be above the sum of the maximum current consumption of the motors used.
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166	166	Should you wish to experiment with a wide variety of different configurations using a single type of motor, ESC and propeller, the following specs are suggested. Note that :
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168		-* Motor thrust:
	166	+* Motor thrust:
169	169	* ESC:
170	170	* Propeller:
171	171	* Battery:
172		-
173		-== Handheld Remote Control (RC) ==
174		-
175		-The handheld remote control allows a human operator to control the drone remotely, and in the case of an autonomous drone, as a fail safe should the drone behave erratically. The minimum number of channels needed is four, with an additional channel often needed for each accessory / functionality. Many flight controllers require a full PWM range of 0.5ms to 2.5ms, which often requires that the remote control be configurable / programmable.
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