Building Smart Drones with ESP8266 and Arduino

Yaw

Yaw is the motion of the drone in the xy plane, or the horizontal plane as shown in the previous figure. The opposite kind of pair of propellers will create reaction movements. If the sum of all the movements of each propeller is equal to each other, then there is no yaw motion. But if there is difference movements between any pair of propellers, there will be yaw motion, and the drone will move, as shown in the following figure:

If the drone simply rotates along the z direction, it is known as a yaw motion. This will occur, if there is a stable upward force and the propeller forces are as follows:

Here, are the movements of the propellers. ...