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‫Welcome back.

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‫Let's now compute the gyroscopic moment for model one.

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‫To do that, you first take the angular velocity vector, which is P, Q and R, and you cross it with

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‫an angular momentum vector of more one and the angular momentum vector of more one is in the direction

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‫of its body frame Z axis.

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‫So the rest of the dimensions are zero.

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‫And that's of course, the propeller's body frame Z axis, not the Jones body frame Z axis, even though

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‫actually they are in the same direction.

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‫And now you know the drill.

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‫You have this matrix and you take the determinant of it.

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‫This would be the eye component then minus J.

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‫This would be the J component and then plus K and that would be your key component.

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‫And so if you do this to buy to determine it's here, then what you will get is this.

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‫Q Time's up H one minus J-P times H one and then plus K times zero.

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‫And it makes sense that this final term is zero.

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‫That's because the model one angular momentum vector is in the same direction, like the drones rotation

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‫about its body frame Z axis.

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‫So if this is your drone's body frame Z axis here and this is your M1 propeller's body frame, Z axis,

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‫which is this one.

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‫So let's call it H one, then you can see that the rotation of both the drones body frame Z axis at

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‫R radians per second has the vector in the same direction that the model one has in terms of its angular

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‫momentum vector.

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‫They're both in the same direction, so they are parallel.

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‫And you already know what happens when you cross two parallel vectors with each other.

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‫If it's this, then it's going to be zero or if it's even this, then it's going to be zero as well,

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‫because still the vectors are parallel to each other.

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‫And that's why this final term here is zero.

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‫And if you put it in English, then what it really means is that since your propellers are attached

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‫to the drone in such a way that the.

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‫The rotation vectors are parallel to the drones, but from Z.

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‫Access, that means that if you rotate your drone about the body from Z axis, then there will be no

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‫gyroscopic effect.

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‫Because the angular momentum vectors from the robber's.

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‫Will not change their direction.

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‫That's why the your rotation will not cause gyroscopic effect.

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‫However, the roll and pitch rotations, they will cause a gyroscopic effect because that will cause

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‫the direction change of the motors, angular momentum vectors.

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‫Brooke, you can now rewrite this entire thing like this Q H one minus P times, H, one and zero,

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‫and since it's a moment, then its unit is Knewton times meeta like this.

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‫So that's four more one.

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‫That's the moment vector induced from the gyroscopic effect because of more one propeller rotation.

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‫If you now do it for other motors, then it looks like this.

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‫This is the final answer for more to this is four more three and this is four more for.

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‫And now let's replace the H.

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‫Vector's with Jessopp, TPE and the Megas.

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‫This will be four more one here in red.

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‫This will be for my daughter to remember now you're Amiga is negative, so you have to take that into

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‫account.

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‫So you will end up with this vector here for murder three.

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‫This is your answer and for more for this is the answer.

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‫And again, you have to take into account that your mega your angular velocity for the propeller four

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‫is negative.