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A linear function of velocity is one of the simplest ways to model the drag force. Finding good values for the three coefficients is usually determined by collecting data from a quadrotor, and picking those values for which this linear model predicts the acceleration closest to that measured from the real data. E.g. minimizing the sum of squares of the error ...


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Let me preface this by saying I've never done quadcopter controls before. With a vehicle, the gas pedal doesn't control speed or position, it controls torque. For a quadcopter, the equivalent would be the horizontal forces. The roll/pitch angles would be an input to the horizontal force, but thrust is also an input and the relationship is nonlinear: $F_{...


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