‫Welcome back.
‫So this is the solution for you, for one way to do it is like this, you add a bit of rotation to M2
‫and enforced by Delta A radians per second, and you decrease rotation in M1 and M3 by Delta B radians
‫per second.
‫Now the clockwise turning propellers turn faster than the counterclockwise turning propellers.
‫That's like a chopper without a tail.
‫The wave starts rotating counterclockwise around the body frame z axis and makes sense because the propellers
‫that rotate clockwise dominate.
‫And so the network that the propellers experiences, the drone itself experiences a talk that has equal
‫magnitude.
‫But it has the opposite direction.
‫The relation between the your control action torque you for which units are Knewton meters and the acceleration
‫around the body from the axis side, double that.
‫Considering that there are no other talks present, then the relationship between them is the following.
‫EUFOR equals the mass movement of inertia about the body frame Z axis times side double dot, which
‫is the angular acceleration and its units are radians per second squared.