# How Yaw, Pitch and Roll effect the flight of Quadcopter? [duplicate]

I am doing simulation of Quadcopter in simulink. I want to know how Yaw, Pitch and Roll effect the flight of Quadcopter? and How these are different from a single rotor helicopter? Mainly how to change the RPM to change the x,y,z coordinates of the Quadcopter? Is there any Differential Equation that can convert the rpm to yaw pitch and roll? Please help.

In a helicopter (which has 2 rotors, one main rotor and one tail rotor) the angle of attack of the main rotor controls the altitude, pitch, and roll. The yaw is controlled by the counter-torque rotor (tail rotor) which counter acts the reaction torque exerted by the rotation of main rotor which acts on the body of the helicopter.

Cyclic Control for Pitch and Roll The blades of the main rotor are pitched up or down cyclically, that is, the pitch depends on the blades current position in the rotation cycle.

Collective Control for Altitude The blades are pitched up or down "collectively", that is, at the same time. This produces a balanced lift force that can move the helicopter up or down.

Throttle control The throttle controls the speed of rotation of the blades. Through mechanical or electro-mechanical control systems this is often automatically controlled to maintain constant power while altering the other two control mechanisms.