25 days ago
- Describes drone physics using six degrees of freedom and coordinate systems like North-East-Down (NED).
- Covers state variables (position, velocity, orientation, angular velocity) and forces/torques (thrust, gravity).
- Derives linear and angular equations of motion, including Newton's second law and the Transport Theorem.
- Explains motor and propeller dynamics for generating forces and torques via thrust and drag coefficients.
- Discusses control systems: allocation matrices, PID controllers for reference tracking, and path planning.