Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control

Table 2

List of symbols.

Symbols	Description
	X position w.r.t BFR
	Y position w.r.t BFR
	Z position w.r.t BFR
x	X position w.r.t EFR
Y	Y position w.r.t EFR
Z	Z position w.r.t EFR
	Angular position phi
	Angular position theta
	Angular position psi
	Eta – viscosity
	Rotation matrix
	Rotor inertia
	Diagonal inertia matrix
	Angular rate
	Moment of inertial along the x-axis
	Moment of inertial along the y-axis
	Moment of inertial along the z-axis
	Moment of inertia for body frame principle axes
	Drag coefficients
	Aerodynamic force
	Moment force
	Quadcopter moment
	Drag force
	Moment constant
	Aerodynamic force constant
P	Pitch
	Thrust
D	Diameter
	Required
	Battery voltage
	Nominal
	Output power
	Battery capacity
	Nominal current
	Endurance
	Efficiency