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\begin{tikzpicture}[3d view={120}{15}]
\newcommand\radius{15mm}
\newcommand\height{3cm}
\begin{scope}[canvas is yx plane at z=.8]
\foreach \i in {1,2,3,...,8} {
\fill[lightgray, opacity=.5] (0,0) -- ({\i*360/8}:{.9*\radius})
arc ({\i*360/8}:{(\i+.5)*360/8}:{.9*\radius}) -- cycle;
};
\fill[lightgray, opacity=.5] (0,0) circle (3mm);
\draw[black, <-] (-1, 1) to[out=180, in=0] ++(-.5,1.2)
node[left, anchor = east] {Propeller};
\end{scope}
\begin{scope}[canvas is yx plane at z=-2]
\draw[black, <-] (-1, .5) to[out=180, in=0] ++(.1,1.5)
node[left, anchor = east] {Flap};
\end{scope}
\begin{scope}[canvas is xz plane at y=0, thick]
% flap along y back
\fill[lightgray!30, draw=lightgray] ({-.3*\radius}, -2) rectangle ({-.8*\radius}, -2.5);
% drag force of flap along y back
\draw[-latex, blue!80!black] ({-.55*\radius}, -2) -- ++(0,-6mm);
\end{scope}
% FIXME: why can't is use -.55\radius??
\begin{scope}[canvas is yz plane at x=-.825, thick]
% lift force of flap along y back
\draw[-latex, green!50!black] (0, -2) -- ++(5mm,0);
\end{scope}
\begin{scope}[canvas is yz plane at x=0, thick]
% flap along x front
\fill[lightgray!30, draw=lightgray] ({.3*\radius}, -2) rectangle ({.8*\radius}, -2.5);
% drag force of flap along x front
\draw[-latex, blue!80!black] ({.55*\radius}, -2) -- ++(0,-6mm)
node[right] {$\vec{F}_{d,i}$};
% flap along x back
\fill[lightgray!30, draw=lightgray] ({-.3*\radius}, -2) rectangle ({-.8*\radius}, -2.5);
% drag force of flap along x back
\draw[-latex, blue!80!black] ({-.55*\radius}, -2) -- ++(0,-6mm);
\end{scope}
% FIXME: why can't is use .55\radius??
\begin{scope}[canvas is xz plane at y=-.825, thick]
% lift force of flap along x back
\draw[-latex, green!50!black] (0, -2) -- ++(5mm,0);
\end{scope}
% FIXME: why can't is use .55\radius??
\begin{scope}[canvas is xz plane at y=.825, thick]
% lift force of flap along x front
\draw[-latex, green!50!black] (0, -2) -- ++(5mm,0);
% flap angle for front x
\fill[violet] (0,-2) circle (.5mm);
\node[violet, right, yshift=1mm] at (0,-2) {$\alpha_1$};
\end{scope}
\begin{scope}[canvas is xz plane at y=0, thick]
% flap along y front
\fill[lightgray!30, draw=lightgray] ({.3*\radius}, -2) rectangle ({.8*\radius}, -2.5);
% drag force of flap along y front
\draw[-latex, blue!80!black] ({.55*\radius}, -2) -- ++(0,-6mm);
\end{scope}
\begin{scope}[canvas is xy plane at z=0, thick]
\draw[lightgray, dashed] (0,0) circle (\radius);
\end{scope}
\begin{scope}[canvas is xy plane at z=-2, thick]
% lower circle
\draw[gray] (0,0) circle (\radius);
\draw[lightgray, densely dotted] (-\radius, 0) -- (\radius, 0);
\draw[lightgray, densely dotted] (0, -\radius) -- (0, \radius);
\end{scope}
\begin{scope}[canvas is xy plane at z=1, thick]
% upper circle
\draw[gray] (0,0) circle (\radius);
\draw[lightgray, densely dotted] (-\radius, 0) -- (\radius, 0);
\draw[lightgray, densely dotted] (0, -\radius) -- (0, \radius);
\end{scope}
% FIXME: why can't is use .55\radius??
\begin{scope}[canvas is yz plane at x=.825, thick]
% lift force of flap along y front
\draw[-latex, green!50!black] (0, -2) -- ++(5mm,0)
node[pos=1, below, yshift=-1mm] {$\vec{F}_{\ell,i}$};
\end{scope}
\begin{scope}[canvas is yz plane at x=-.825, thick]
% flap angle for back y
\fill[violet] (0,-2) circle (.5mm);
\node[violet, xshift=2.5mm, yshift=1.5mm] at (0,-2) {$\alpha_4$};
\end{scope}
\begin{scope}[canvas is xz plane at y=-.825, thick]
% flap angle for back x
\fill[violet] (0,-2) circle (.5mm);
\node[violet, xshift=2.5mm, yshift=1.5mm] at (0,-2) {$\alpha_3$};
\end{scope}
\begin{scope}[canvas is yz plane at x=.825, thick]
% lift force of flap along y front
\fill[violet] (0,-2) circle (.5mm);
\node[violet, xshift=2mm, yshift=1.5mm] at (0,-2) {$\alpha_2$};
\end{scope}
\begin{scope}[thick]
% cylinder border
\draw[gray] (xyz cylindrical cs:z=-2,radius=1.5,angle=-60)
-- ++ (xyz cylindrical cs:z=3);
\draw[gray] (xyz cylindrical cs:z=-2,radius=1.5,angle=120)
-- ++ (xyz cylindrical cs:z=3);
% central axis
\draw[lightgray, dashdotted]
(xyz cylindrical cs:z=-2) -- (xyz cylindrical cs:z=2);
% outer line for radius measurement
\coordinate (TO) at (xyz cylindrical cs:z=1);
\coordinate (TR) at (xyz cylindrical cs:z=1,radius=1.5,angle=120);
\draw[red!60!black, <->] (TO) -- node[midway, above] {$a$} (TR);
\end{scope}
\begin{scope}[canvas is yz plane at x=0, thick]
% top line for center of mass measurement
\draw[lightgray, densely dotted] (0, 0) -- (2.5, 0);
% bottom line for center of mass measurement
\draw[lightgray, densely dotted] (\radius, -2) -- (2.5, -2);
% Center of mass height measurement
\draw[red!60!black, <->] (2.5,0) -- node[midway, right] {$d$} (2.5, -2);
% thrust force
\draw[blue!80!black, -latex] (0,1) -- node[near end, right] {$\vec{F}_{T}$} (0,2);
\end{scope}
\begin{scope}[canvas is xy plane at z=1.25, thick]
% propeller angular velocity
\draw[violet, ->] (290:.2) arc[start angle=290, end angle=-30, radius=.2]
node[pos=0, left] {$\omega$};
\end{scope}
\begin{scope}[canvas is xz plane at y=0, thick]
% line to pitch angle
\draw[lightgray, densely dotted] (0, 0) -- (3, 0);
\end{scope}
\begin{scope}[canvas is xz plane at y=1.85, thick]
% roll angle
\draw[violet, ->] (-40:.2) arc[start angle=-40, end angle=-370, radius=.2]
node[midway, right] {$\phi$};
\end{scope}
\begin{scope}[canvas is yz plane at x=2.5, thick]
% pitch angle
\draw[violet, ->] (40:.2) arc[start angle=40, end angle=370, radius=.2]
node[midway, above left] {$\vartheta$};
\end{scope}
\begin{scope}[canvas is xy plane at z=-1.25, thick]
% yaw angle
\draw[violet, ->] (290:.2) arc[start angle=290, end angle=-30, radius=.2]
node[midway, right] {$\psi$};
\end{scope}
\begin{scope}[thick]
% body coordinate system
\coordinate(BO) at (0,0,0);
\draw[-latex] (BO) -- (xyz cylindrical cs:radius=.5)
node[left] {$\uvec{y}$};
\draw[-latex] (BO) -- (xyz cylindrical cs:radius=.5,angle=90)
node[right] {$\uvec{x}$};
\draw[-latex] (BO) -- (xyz cylindrical cs:z=-.5)
node[below] {$\uvec{z}$};
% intertial coordinate system
\coordinate (IO) at (xyz cylindrical cs:radius=3.5,angle=-70,z=-1.5);
\draw[-latex] (IO) -- ++ (xyz cylindrical cs:radius=.5)
node[left] {$\uvec{\jmath}$};
\draw[-latex] (IO) -- ++ (xyz cylindrical cs:radius=.5,angle=90)
node[right] {$\uvec{\imath}$};
\draw[-latex] (IO) -- ++ (xyz cylindrical cs:z=-.5)
node[below] {$\uvec{k}$};
\end{scope}
\end{tikzpicture}
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