Sport Pilot reported observing a UAS pass 10 ft. above their aircraft shortly after takeoff. The pilot tried to coordinate with the UAS crew prior to flight; but a miscommunication occurred leading to an NMAC.

Narrative

When I arrived at the airport about 2 hours earlier; the crew operating the UAS informed me on CTAF when I landed that they were operating and asked if I was going to do a touch & go or stay on the ground. I informed them that I was staying for a few hours to avoid flying through inclement weather on my route. I also noticed the crew of 10+ in high-visibility clothing near the end of the runway. I spent approximately 2 hours at the FBO; and informed 2 people wearing high-visibility clothing who confirmed that they were part of the UAS crew; that I would be departing soon. While loading my aircraft; I stood on top of the wing and used a handheld radio to broadcast on CTAF that I would be departing in 5-10 minutes. I started my plane which was located at the fuel pump; made a CTAF call that I was taxiing to Runway XX via Bravo; and proceeded the turnaround area at the end of Runway XX; making calls on CTAF when I was transiting the crossing runway. After my run up checks; I called on CTAF that I was taking off on Runway XX; departing straight out; and began my takeoff roll. At approximately 100 ft. AGL; at the intersection between Runway XX-YY and ZZ-AA; I noticed a hovering red quadcopter. I passed below it by approximately 10 ft. I called multiple times on CTAF to alert traffic in the area that there was a drone flying midfield. After approximately a minute; a person transmitted on the CTAF with a weak/static-y signal that there was drone activity NOTAM'd. I proceeded on my flight without further incident.