Drone is a complex cyber physical system (CPS) that needs to react and stabilize itself in case of wind gusts, turbulation, and tilt. For this problem, describe the followings in the context of a toy drone (quadcopter):

a) Draw a block diagram depicting (i) cyber component, (ii) physical component, and (iii) feedback loop for this CPS. How they are interfaced and interconnected? b) Design a "Level 1" diagram for the drone control system which receives inputs from gyroscopes, acceleration sensors, altitude sensors, and a user-controlled remote control (up, down, left, right), and produces outputs to power 4 motors of the quadcopter propellers. The controller must hold its position if there is no signal from the remote control.

Also, List a set of specifications for its functional requirements, and a set of specifications for its safety requirements.

Finally, Can you develop a formal model for this design? Logically explain your answer.