The dynamics for single motor flyer in 3D space is very similar to the one for four-motor drone system. The main difference is that for the single motor system, only one propeller is rotating. Basing on the simulation for four motor drone, a new matlab simulation was created to describe the behavior for single motor system. In addition to remove the force and torque introduced by three propellers, another modification to the simulation is adding the aerodynamic drag torque to the system. This drag was ignored in the four motor model we created. The next step is to convert the code for Single-Motor-Dynamics into a matlab function, with the propeller rotation speed as function input, the updated dynamic states of the flyer as the output. Then, the matlab function can be used as a block in simulink together with the controller Wei created.

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