Lifting Power Calculation

Hi

I want to know Quad Lifting power calculation formula. I've seen all calculators online. I want to know formula, as each returns different values, I have to understand formula and check stuff myself.

I've attached my Quad settings. With these settings, I cannot even get a lift, it doesn't get off from ground but calculator says I can have 1.5kg more payload.

What do you think? Please tell me about formula for calculation.

Thanks

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