Estimation of states.
Basic mechanics
Design considerations
Agility and maneuverability
Selection of components.
Geometry and mechanics.
Transformations
Rotations
Angles of Euler.
Quaternions
Angular velocity.
Newton-Euler equations.
Main axes and main moments of inertia.
Equations of movement of a multi-rotor.
Linearization
Control and navigation.
PID control.
1D, 2D and 3D control of multirotor.
Paths.
Euler-Lagrange equations.
Splines.