Balancing props is a very real concern, but for another reason than efficiency: unbalanced props cause more vibration and lead to reduced image/video quality du

Balancing props is a very real concern, but for another reason than efficiency: unbalanced props cause more vibration and lead to reduced image/video quality due to the rolling shutter effect (image looks wobbly). That being said, many people don't bother with propeller balancing. Size of the aircraft is a very important point, but there are other reasons besides the two you mentioned. Generally, larger motors are more efficient than smaller ones. Larger, slower, props are more efficient than smaller, faster, ones, because Thrust ~ Rotor Speed^2 but Power ~ Rotor Speed ^ 3. Why? I don't recall, sorry. I'm more interested in the software. (If you do figure it out though, let me know.)