This week we have been debugging the Matlab script. We used the symbolic toolbox with a different solver and got the solution that “Relaxed hover solutions for multicopters: application to algorithmic redundancy and novel vehicles” gave. However, sometimes the script can generate 2 different solutions depending on the sign of the thrust coefficient. Based on my observation, the problem arises when the moment-of-inertia matrix is not a diagnal matrix. The script gives the expected result when the input value is from a quadcopter frame, with the moment-of-inertia matrix being diagnal.