Conventions

Rotor Indexing

Model Structure

• World
  • Body (body_frd) link via "free joint" (floating base), FRD axes
  • Rotor 1 (rotor_1) link via revolute joint, positive rotation along \(z\) axis
  • ...
  • Rotor 4 (rotor_4) link via revolute joint, positive rotation along \(z\) axis

Frames

Frame	Symbol	Origin	Axes
Body	\(\mathcal{B}\)	Vehicle center of gravity (CG)	\(x\) forward, \(y\) right, \(z\) down
Rotor \(i\)	\(\mathcal{R}_i\)	Rotor CG	\(x\) forward, \(z\) according to rotation