m

Mass of quad-rotor

2

kg

g

Gravitational constant

9.81

m∙s^-2

l

Length between the center of the aircraft and the rotor

0.35

m

$I_x$

Moment of inertia around $X_B$

1.25

kg∙m²

$I_y$

Moment of inertia around $Y_B$

1.25

kg∙m²

$I_z$

Moment of inertia around $Z_B$

2.5

kg∙m²

$k_c$

Torque coefficient

0.035

m