1
00:00:00,360 --> 00:00:01,330
‫So there you go.

2
00:00:01,710 --> 00:00:08,970
‫Now you have all the tools you need to move information between body and inertial frames, and you need

3
00:00:08,970 --> 00:00:18,570
‫them because usually linear and angular velocities are given in the body frame, either from sensors

4
00:00:19,170 --> 00:00:20,950
‫or computer simulations.

5
00:00:21,420 --> 00:00:32,910
‫However, your reference positions, X or Y are and Zeyada and the reference altitude that the drone

6
00:00:33,270 --> 00:00:38,180
‫needs to achieve are usually given in the inertia frame.

7
00:00:38,550 --> 00:00:49,080
‫And so you have to take your body frame, linear and angular velocities and convert them into linear

8
00:00:49,530 --> 00:00:53,490
‫and angular velocities in the inertia frame.

9
00:00:54,150 --> 00:01:02,970
‫Then you can use them to obtain your linear and angular position in the inertial frame through integration

10
00:01:03,300 --> 00:01:06,420
‫like this, using formulas like this.

11
00:01:06,780 --> 00:01:15,390
‫But more on that later and to complete the schematics, then these values here will go into the controller,

12
00:01:15,840 --> 00:01:23,460
‫but also the body frame values will also go into the controller and you will see how once we start working

13
00:01:23,460 --> 00:01:32,250
‫with the controller, then the controller will give you you one, you two, you three and you for the

14
00:01:32,250 --> 00:01:33,300
‫control actions.

15
00:01:33,720 --> 00:01:42,610
‫You one was a force thrust and then you two, you three and you four where moments roll pitch and your

16
00:01:42,660 --> 00:01:43,530
‫respectively.

17
00:01:44,010 --> 00:01:52,620
‫They went into the mathematical model of the universe, but they were also used to compute the rotational

18
00:01:52,620 --> 00:02:00,330
‫velocities of the drones, propellers, sigma one, two, three and four, which also went into the

19
00:02:00,330 --> 00:02:01,550
‫model of the wave.

20
00:02:02,010 --> 00:02:09,600
‫And so thanks to the rotation and transfer matrices that you now know how to get, you now have covered

21
00:02:09,960 --> 00:02:15,500
‫this part and this part you covered in the previous course in this series.

22
00:02:16,050 --> 00:02:19,410
‫And with that, we conclude the kinematics part.

23
00:02:19,680 --> 00:02:26,520
‫And in the next video, we will start looking at fundamental equations of dynamics and we will need

24
00:02:26,520 --> 00:02:35,940
‫those fundamental equations of dynamics in order to later cover this part and find a mathematical model

25
00:02:35,940 --> 00:02:36,820
‫for this one.

26
00:02:37,260 --> 00:02:41,250
‫And as we do that, we will also find out what's here.

27
00:02:41,790 --> 00:02:44,280
‫And then you will have covered the planned box.

28
00:02:44,790 --> 00:02:52,330
‫And once that is done, then we will move to the controller and we will see what inside that box.

29
00:02:52,830 --> 00:02:54,240
‫So stay tuned.

30
00:02:54,250 --> 00:02:58,780
‫It's going to be a very exciting, interesting and practical.

31
00:02:59,190 --> 00:03:00,320
‫Thank you very much.

32
00:03:00,330 --> 00:03:01,940
‫And see you in the next video.