5. Quadrirotor

Let's take a look at the quadrotor shown in figure 20 , which we're going to model and control. The drone has four thrusters that can be controlled independently. These actuators regulate attitude and position. For this type of drone, there are typically four possible movements: throttle, yaw, roll and pitch. To maintain yaw control, you need two propellers that turn clockwise (normal-pitch propellers) and the other two counter-clockwise (reverse-pitch propellers). The Matrix 600 drone shown in figure 19 has six thrusters. However, it can be considered a quadrotor, as all its thrusters have a vertical direction.