With the rise of Unmanned Aerial Vehicles (UAVs) in both civilian and military applications, ensuring their security has become critical. While various privacy and security concerns such as UAV authentication and communication threats have been studied, little effort has been made to highlight the threat of Hardware Trojans (HTs) in UAVs. A flight controller infested with HTs may function improperly, leading to crashes, exhibit parametric deviations that reduce drone lifespan, or be disabled during critical operations. In this paper, we present DroneTROJAN, a suite of HT attacks that specifically target UAV systems. We develop and inject three custom HTs targeting the PWM generator module and gyroscope sensor hardware Intellectual Property (IP) interface within a UAV testbed. These modules govern motor control and motion sensing, making them high-impact targets. We evaluate the effects of the HTs on power and area, and analyze their stealthiness and practicality.
