‫Welcome back.
‫So our Londergan in the B frame is the first three elements are zero because they're for the force and
‫we didn't have any gyroscopic force.
‫We have gyroscopic moments.
‫And so the fourth element will be this one from here.
‫The fifth element will be this one from here, the entire one, including the minus sign.
‫And the sixth element will be zero like here.
‫And that's how it looks like.
‫And there you go.
‫You have your third force and moment vector.
‫Now, you could also add a drag force to the drone.
‫So you can imagine that if you have a drone and you fly in this direction or that direction or you go
‫up or down, then you go through the.
‫So there is some kind of air resistance, obviously.
‫However, at low speeds, when your drone goes quite slowly, which is in our case, then the air resistance
‫can be neglected.
‫And in this course, we are going to neglect it.
‫But just for your knowledge, we're going to briefly treat it in Section eight in the Python simulation
‫analysis and cold explanation.
‫So now you have three, four moment vectors.
‫One of them is this one.
‫Then you had a gravity force moment vector.
‫It looked like this.
‫And then you also had one lambda for the inputs and it looked like this.
‫And so your total net force and moment vector that you saw in the Newton Oilor formulation, which was
‫simply this one.
‫Now you can express it in terms of three different force movement vectors, the gravity vector plus
‫the gyroscopic vector and plus the input vector.
‫And you can write it all out like this.
‫So here you have now separated your net force movement vector into three separate relevant force movement
‫vectors.
‫And now using this result, we will rewrite our Newton oilor equation in the state space for and we're
‫going to do it in the next years.
‫Thank you very much.