‫So there you go.
‫Now you have all the tools you need to move information between body and inertial frames, and you need
‫them because usually linear and angular velocities are given in the body frame, either from sensors
‫or computer simulations.
‫However, your reference positions, X or Y are and Zeyada and the reference altitude that the drone
‫needs to achieve are usually given in the inertia frame.
‫And so you have to take your body frame, linear and angular velocities and convert them into linear
‫and angular velocities in the inertia frame.
‫Then you can use them to obtain your linear and angular position in the inertial frame through integration
‫like this, using formulas like this.
‫But more on that later and to complete the schematics, then these values here will go into the controller,
‫but also the body frame values will also go into the controller and you will see how once we start working
‫with the controller, then the controller will give you you one, you two, you three and you for the
‫control actions.
‫You one was a force thrust and then you two, you three and you four where moments roll pitch and your
‫respectively.
‫They went into the mathematical model of the universe, but they were also used to compute the rotational
‫velocities of the drones, propellers, sigma one, two, three and four, which also went into the
‫model of the wave.
‫And so thanks to the rotation and transfer matrices that you now know how to get, you now have covered
‫this part and this part you covered in the previous course in this series.
‫And with that, we conclude the kinematics part.
‫And in the next video, we will start looking at fundamental equations of dynamics and we will need
‫those fundamental equations of dynamics in order to later cover this part and find a mathematical model
‫for this one.
‫And as we do that, we will also find out what's here.
‫And then you will have covered the planned box.
‫And once that is done, then we will move to the controller and we will see what inside that box.
‫So stay tuned.
‫It's going to be a very exciting, interesting and practical.
‫Thank you very much.
‫And see you in the next video.