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I would like to know what is the kinematic model of a quadcopter in X-configuration. Basically I want the relation mapping rotor speed to the body twist (or body frame velocity).

       rotor speed = H . body_twist  ==> What is this equation?

The rotor speed matrix is ==> (4 x 1) matrix
The body frame velocity/body twist is ==> (6 x 1) matrix
The H is ==> (4 x 6) matrix

I would like to know what is this H matrix for a quadrotor in X-config.

For reference, the kinematic model of a Mechanum Wheel robot is as follows :

KINEMATIC MODEL OF 4 WHEEL MECHANUM BASE

I would like to know what is the similar model for a quadcopter in X-config.

Reference : Modern Robotics, Lynch and Park, Cambridge U

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