Mathematical model of a quadrocopter

Question

Do it yourself

Hello,
it would be interesting to read about how the quadrocopter is balanced.

Answer 1

I won’t tell you in Russian, but
scholar.google.ru/scholar?q=quadcopter+balancing+algorithm
scholar.google.ru/scholar?q=quadcopter+dynamics
produces many articles with mat. models, and then you can look at their sources, etc.

Answer 2

I'm making my quadcopter. Part 1. Equations of dynamics