Symbol Meaning RI : The earth inertial frame (RI -frame) RB : The body-fixed frame (RB -frame) m R : Total mass of the hexa-rotor g R : Gravity constant(Φ, θ, ψ) R3 : Euler angle of rotorcraft ξ R3 : Position of the center of mass in the inertial frame η R3 : Position of the orientation in the body frame υ R3 : The translational velocity ω R : The angular velocity Kfa R3 : Propeller drag coefficient Ωr R : Overall propeller speed (rad/s) J R3 : The diagonal inertia matrixS( ) R3 : Skew symmetric matrix J r R3 : Inertia for each rotor J xx/yy/zz R : The moments of inertia l R : Distance to the center of gravity b R : Thrust constant [Ns2] d R : The drag factor [Nms]. (kp, ki ,kd) R3 : Proportional, integral and derivative gain
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