Multirotor State

Multirotor is a rigid body, which mass center is the origin of the body frame.

Kinematics

the state from the point of view of kinematics can be defined as:

$$p = [x, y, z]$$

$$q = [\phi, \theta, \psi] = [w, q_1, q_2, q_3]$$

$$v = [v_x, v_y, v_z]$$

$$\omega = [\omega_x, \omega_y, \omega_z]$$

$$a = [a_x, a_y, a_z]$$

$$\alpha = [\alpha_x, \alpha_y, \alpha_z]$$

The state from the point of view of dynamics can be defined as sum of forces and moments acting on the multirotor:

$$F = [F_x, F_y, F_z]$$

$$\tau = [\tau_x, \tau_y, \tau_z]$$

The state from the point of view of actuation can be defined as the state of the motors:

$$\omega_m = [\omega_1, \omega_2, ..., \omega_n]$$

$$\alpha_m = [\alpha_1, \alpha_2, ..., \alpha_n]$$