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‫Welcome back.

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‫So our Londergan in the B frame is the first three elements are zero because they're for the force and

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‫we didn't have any gyroscopic force.

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‫We have gyroscopic moments.

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‫And so the fourth element will be this one from here.

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‫The fifth element will be this one from here, the entire one, including the minus sign.

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‫And the sixth element will be zero like here.

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‫And that's how it looks like.

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‫And there you go.

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‫You have your third force and moment vector.

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‫Now, you could also add a drag force to the drone.

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‫So you can imagine that if you have a drone and you fly in this direction or that direction or you go

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‫up or down, then you go through the.

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‫So there is some kind of air resistance, obviously.

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‫However, at low speeds, when your drone goes quite slowly, which is in our case, then the air resistance

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‫can be neglected.

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‫And in this course, we are going to neglect it.

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‫But just for your knowledge, we're going to briefly treat it in Section eight in the Python simulation

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‫analysis and cold explanation.

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‫So now you have three, four moment vectors.

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‫One of them is this one.

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‫Then you had a gravity force moment vector.

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‫It looked like this.

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‫And then you also had one lambda for the inputs and it looked like this.

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‫And so your total net force and moment vector that you saw in the Newton Oilor formulation, which was

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‫simply this one.

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‫Now you can express it in terms of three different force movement vectors, the gravity vector plus

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‫the gyroscopic vector and plus the input vector.

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‫And you can write it all out like this.

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‫So here you have now separated your net force movement vector into three separate relevant force movement

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‫vectors.

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‫And now using this result, we will rewrite our Newton oilor equation in the state space for and we're

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‫going to do it in the next years.

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‫Thank you very much.