# Roll, pitch and yaw in a quadcopter

The axis definition affect the roll, pitch and yaw definition in a quadcopter?

Image I have the axis defined this way:

then to roll I have to put a higher velocity in (1) than in (3) (turn around the $$x$$ axis), and to pitch I have to put a higher velocity in (2) than in (4) (turn around the $$y$$ axis), for example. But what if I have the axis defined like this:

the turn around the $$x$$ axis will happen when 1 and 4 have one velocity and 2 and 3 another one, and the turn around the $$y$$ axis will occur when the velocity in 1 and 2 is $$v_1$$ and the velocity in 3 and 4 is $$v_2$$, for example.

Is that correct? How are the kinematics equations in this case?

• Your reasoning is correct. The kinematic equations, however, will not change. They are static representations of Newton's laws of motion. Feb 25, 2020 at 22:30
• Do you know any book or thesis or paper where the dynamics and kinematics are explained step by step? Feb 27, 2020 at 12:40
• (The dynamics and kinematics of a quadcopter) Feb 27, 2020 at 12:49
• Unfortunately no, but I recommend doing some exploring of your own. You will likely learn quite a bit more than you'd expect that way. Feb 28, 2020 at 21:49