# How do you calculate the moment of inertia of a Quadcopter?

I'm building a quadcopter for my final year project. I have a set of equations describing attitude and altitude but they involve $I_{xx}$, $I_{yy}$ and $I_{zz}$. None of the papers I have read describe how these are calculated. they simply choose it before their simulation. Can anyone help?

• First you need to know where the center of gravity is. With a decent design this should be in the middle of the quadrotor. Then take every component of the quadrotor, simplify them to a basic body, you can find in a table (engr.colostate.edu/~dga/mech324/Labs/Lab%2010/images/…) . At the end just use Steiner's theorem in all three dimensions and sum them up. – TobiasK Jan 8 '15 at 10:03