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‫Welcome back.

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‫There is one small change that you need to know about, and that change happens here in this support

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‫files drawn.

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‫So this is your init function.

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‫And if you look at your seat and CQ, these are your thrust and drag factors.

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‫Then in the previous videos, you saw that these were the values for the thrust and drag factors.

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‫Right.

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‫And then the units for them were Knewton times second squared and then here Knewton times meters, times

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‫second squared.

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‫And then in the main file, the place where we defined our initial propellor rotational velocities,

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‫the omega's right here before you have here.

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‫Three thousand radians per second now.

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‫Actually, three thousand radians per second is a very big value.

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‫And the reason why it didn't give problems in the simulator was because by mistake, these values were

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‫too small.

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‫In fact, these values were correct, but the units were not correct.

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‫This value here is not in Newton Times.

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‫Second squared, it was in Newton over R.P.M. squared.

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‫And then this value here for the drag factor.

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‫It was not Knewton times Meeta Times second squared, it was Newton Times Meeta over R.P.M. squared.

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‫If these units are used, then the thrust and drag factors, they become very small.

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‫And since you know that the total thrust equals the thrust factor times and then this some of these

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‫angular velocity squared of the propeller's and then your your control moment equals the drag factor

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‫and then these terms.

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‫Then if this city and CQ, if they become very small and you want to keep your initial you one and initial

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‫EUFOR at some kind of level, then that allows you to make those omega's bigger.

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‫So due to that unit error and CQ, you were very small and then the Omega's were very big and in the

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‫simulation it did not affect the You Want and EUFOR values.

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‫They were at normal levels.

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‫Only after I had more closely examined the aztek hummingbird's specifications.

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‫Then I noticed that no way is propeller's can achieve three thousand radians per second.

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‫And then this unit error came out and all I had to do in order to solve the problem was to convert it

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‫from these units here to these ESSI units here by multiplying this factor by the original value.

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‫So it's the same thing for the thrust factor and for the drag factor that made CTY and CQ bigger and

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‫then the normal you one and you four levels could be achieved with the omegle values that are reasonable

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‫for this specific drone.

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‫And so the minimum omega's the minimum propellor rotational velocities for Ozturk Hummingbird are more

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‫or less these ones here.

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‫They provide some kind of thrust, but the total thrust will not overcome the weight of the drone.

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‫So when the omega's rotate at these values and these values are radians per second, then you will have

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‫a drone with rotating propellers.

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‫But the drone will be at rest because at these rotational speeds they will not be able to create enough

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‫thrust to overcome the weight of the drone.

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‫And so how do we convert these units into Newton's second squared and Newton meters second squared?

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‫It's actually very easy.

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‫So Newton over R.P.M. squared.

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‫Now, what is R.P.M.?

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‫R.P.M. is rounds per minute like this, but let's call it our Overman and so I can write it down like

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‫this.

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‫Newton over R squared over min squared.

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‫I can also write it down like this.

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‫Newton times min squared overwound squared.

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‫I can also rewrite it like this Newton.

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‫Times, many times, men over our times are.

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‫And so in one minute you have 60 seconds, but you had minutes squared, so you have to add one more

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‫ratio.

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‫And then in one round you have two pie radiance.

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‫Right, because around is one circle.

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‫It's too pie radians.

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‫And again, since we have round squared, then we have to add one more ratio here.

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‫And now the minutes cancel out and the rounds cancel out.

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‫And so you are left with neutral times, 60 squared, second squared and two pi squared radians squared

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‫but radians.

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‫It's dimensionless, right.

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‫Because what is radians.

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‫It's meters over meters.

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‫If you have a circle and then you have your circumference and then you have your diameter, then your

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‫circumference over diameter will give you pi radians.

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‫In other words, it will give you pi meters over meters because the circumference is measured in meters

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‫and the diameter of the circle is measured in meters.

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‫And so they cancel out and therefore radians is dimensionless.

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‫So you can just ignore that.

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‫And that's why when you have something in Newton over R.P.M. squared, then if you take that something

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‫and you multiply it by 60 over two PI squared, then you will get that quantity in Newton second squared

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‫and then will in this case it would be the same thing.

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‫It's just you would have had meters here, then meters here, 10 meters here than here and then also

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‫here and here.

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‫And that's why I multiply these values here by 60 over two pi and all that squared in both cases.

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‫And of course, in the latest downloadable file, this has already been modified.

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‫So thank you very much.

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‫And I'll see you in the next video.