SW Dev: Math model- correction and improvement

Hi,
in previous post I attached an xls file with math model of the dynamics of the quadcopter.
I recognized a stupid error. I caclulated the acceleration not using rpm, but the rpm % causing wrong result for R.acc and consequently all the rest.

In this new version I also added the calculation of the angular speed of the motor that can balance the gravity (w hover) wh ( see for calculation details  the prop page)

control loop rev 2

Again, if someone interested can send me its own quadcopted data (length motor-quad center,arm mass,motor mass,total mass,prop data,PID parameters)I’d like to put in there to validate my model.

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