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)
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.