Low Level Model Identification of a Quadrotor X3D-BL

This work aims at identifying the low level model of a miniature quad rotor, using a sensor of force and torque in the three axes of the Cartesian system. To do that, the first step is to obtain the low level model of the rotorcraft. Then we obtained the coefficient Cf,t, which is a meaningful contribution of this work, since there are just a few works in the literature addressing such coefficient, necessary to convert the force and torque on the three axes in the individual strength of each propellant. As a continuation of this work, the parameters associated to the low level model here discussed will be also identified.