Simulating a 3D quadcopter from scratch

This post is the second post in our series on quadcopter simulation. If you want the simpler planar version first, the previous post derives and simulates the same ideas in 2D, but this post is fully standalone. Today, we simulate a three-dimensional quadcopter. We will derive the equations of motion, transform them into state-space form, and finally simulate the system in Python. Along the way,…