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Robot Operating System Cookbook by Kumar Bipin

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Hover and upward and downward motion

Let us look at some conditions of the motion of the quadcopter; first, how the quadcopter can hover in the air! As the quadcopter is steady in the air, it must be in equilibrium. All the forces must be balanced. The total thrusts F1, F2, F3, and F4 produced by the propellers must be equal to the weight of the quacopter. And, all the Moments produced must be zero:

Condition for hovering:

Equation of motion: ...

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