I have implemented linearization and LQR controller in the attitude control block. Previously, I tried to test the correctness of the dynamics block by trying to maintain hover after initializing the flyer at a hover posture. However, the flyer is only able to maintain the position for 06 seconds. By implemnting linearization, we could more clearly see whether the dynamics block is implemented in the correct way since the governing equations are the same. Also, the A and B matrices have varifiable values in the original research paper. Right now, the linearization block returns a different set of A and B matrices from the literature result, which suggests a potential problem in the calculation of the derivative of the state. This following shows my result compared to liturature value. (inital constants taken from *A controllable flying vehicle with a single moving part*(W. Zhang, Mark. Mueller, and R. Dâ€™Andrea, 2016).