• Flight Controller: Main processing unit managing flight operations
• Communication Systems: RF controls, Wi-Fi, Bluetooth, cellular (4G/5G)
• Sensors: GPS, IMU, cameras, ultrasonic sensors, barometer
• Hardware: Motors, ESCs, battery management system, physical ports
• Ground Control Station (GCS): Remote controller, mobile app, base station
• Cloud Services: Telemetry storage, flight logs, firmware updates
• Data Storage: Onboard storage, SD cards, encrypted memory

• Primary Control: 2.4GHz/5.8GHz RF link
• Telemetry: MAVLink protocol over various transports
• Video Feed: Analog/digital video transmission
• Command & Control: Wi-Fi, cellular, satellite communications
• Firmware Updates: USB, OTA updates

                        [Public Internet]
                              |
                    +---------+---------+
                    |                   |
              [Cloud Backend]     [Firmware Server]
                    |                   |
        +-----------+-----------+       |
        |                       |       |
  [Ground Station]         [Drone]------+
   (Controller)              |
        |                    |
        +--- RF/WiFi --------+
             Commands

                    [Ground Control Station]
                         |
                    RF Commands
                         |
                         v
    +----------------[Flight Controller]----------------+
    |                    |        |                     |
    |              Sensor Data  Control               Logs
    |                    |        |                     |
    v                    v        v                     v
[GPS Module]      [IMU/Sensors] [Motors/ESCs]    [Storage]
    |                    |        |                     |
    +--------------------+--------+---------------------+
                         |
                    [Telemetry]
                         |
                    [Cloud Services]

Lens 1 - Context & Lifecycle

• Firmware authenticity during updates
• Boot process integrity
• Debug port access (JTAG/UART)

Lens 2 - Trust Relationships

• Trust between flight controller and sensors
• Authentication of ground station commands
• Firmware signing verification

Lens 3 - Adversary Goals

• Take control of drone flight
• Install malicious firmware
• Impersonate legitimate ground station

Lens 4 - Verification & Recovery

• Secure boot implementation
• Firmware signature verification
• Hardware-based attestation

Threat Scenarios:

• SPOOF-FC-01: Attacker uploads unsigned firmware via exposed debug ports
• SPOOF-FC-02: Man-in-the-middle attack on firmware update process
• SPOOF-FC-03: Rogue ground station sends unauthorized commands

Lens 1 - Data Sensitivity

• Flight parameters and PID settings
• Waypoint data
• Return-to-home coordinates

Lens 2 - Change Paths

• Parameter modification via MAVLink
• Direct memory manipulation
• Configuration file tampering

Lens 3 - Adversary Benefits

• Cause controlled crash
• Redirect drone to attacker location
• Disable safety features

Lens 4 - Integrity Checks

• Parameter validation
• Checksum verification
• Secure storage implementation

Threat Scenarios:

• TAMP-FC-01: Modify GPS home location to hijack drone
• TAMP-FC-02: Alter flight ceiling limits to exceed regulations
• TAMP-FC-03: Tamper with battery voltage readings

Threat Scenarios:

• SPOOF-COMM-01: GPS spoofing to misguide drone navigation
• SPOOF-COMM-02: Wi-Fi evil twin attack to intercept control
• SPOOF-COMM-03: RF replay attacks on control signals

Threat Scenarios:

• TAMP-COMM-01: Modify MAVLink messages in transit
• TAMP-COMM-02: Inject false telemetry data
• TAMP-COMM-03: Alter video feed data

Threat Scenarios:

• INFO-COMM-01: Sniff unencrypted telemetry data
• INFO-COMM-02: Capture video feed transmission
• INFO-COMM-03: Extract flight paths and operational patterns

Threat Scenarios:

• DOS-COMM-01: RF jamming attacks on control frequencies
• DOS-COMM-02: Wi-Fi deauthentication attacks
• DOS-COMM-03: GPS jamming to trigger failsafe

Threat Scenarios:

• SPOOF-SENS-01: Laser/light attacks on optical sensors
• SPOOF-SENS-02: Ultrasonic interference on proximity sensors
• SPOOF-SENS-03: Magnetic field manipulation for compass

Threat Scenarios:

• TAMP-SENS-01: Physical manipulation of sensor mounting
• TAMP-SENS-02: Calibration data corruption
• TAMP-SENS-03: Sensor fusion algorithm manipulation

Threat Scenarios:

• PHYS-01: Extract encryption keys from unprotected memory
• PHYS-02: Install hardware implants on PCB
• PHYS-03: Side-channel attacks on crypto operations
• PHYS-04: Fault injection attacks on processors

1. Component Identification

   • Map all hardware components
   • Identify communication protocols
   • Document firmware versions

2. Network Mapping

   • Scan for open ports
   • Capture network traffic
   • Identify encryption usage

Tools: HackRF, RTL-SDR, GNU Radio
- Spectrum analysis
- Signal replay attacks
- Jamming effectiveness
- Protocol reverse engineering

Tools: Aircrack-ng, Kismet, Custom scripts
- WPA/WPA2 attacks
- Deauthentication floods
- Evil twin scenarios
- MAVLink injection

Tools: Logic analyzers, JTAG debuggers, ChipWhisperer
- Firmware extraction
- Debug port exploitation
- Glitch attacks
- Side-channel analysis

1. Custom Exploits

   • Protocol-specific fuzzers
   • Hardware glitch tools
   • RF signal generators

2. Attack Chains

   • Multi-stage attacks
   • Persistence mechanisms
   • Data exfiltration paths

1. Secure Boot Implementation

   • Cryptographic verification of firmware
   • Hardware root of trust
   • Anti-rollback protection

2. Communication Encryption

   • End-to-end encryption for all channels
   • Perfect forward secrecy
   • Certificate pinning

3. Physical Security

   • Tamper-evident enclosures
   • Secure element integration
   • Memory encryption

1. Anomaly Detection

   • Behavioral analysis
   • Sensor fusion validation
   • Command pattern recognition

2. Fail-Safe Mechanisms

   • Autonomous return on signal loss
   • Geofencing enforcement
   • Emergency landing protocols

• Firmware integrity verification
• Communication channel encryption status
• GPS signal authenticity
• Sensor calibration validation

• RF spectrum analysis
• Wi-Fi vulnerability scanning
• MAVLink fuzzing
• Hardware interface probing
• GPS spoofing tests
• Video feed interception
• Battery management attacks
• Sensor manipulation tests

• Log collection and analysis
• Vulnerability documentation
• Exploit proof-of-concept
• Risk scoring
• Mitigation recommendations

1. Security Assessment Report

   • Executive summary
   • Technical findings
   • Risk ratings
   • Remediation roadmap

2. Proof-of-Concept Code

   • Exploit demonstrations
   • Testing tools
   • Automation scripts

3. Threat Model Updates

   • New attack vectors
   • Emerging threats
   • Mitigation effectiveness