[hazrmard]

Hello, blog author here. I agree the math appears overkill. I wrote this as a learning aid for myself with the benefit of hindsight of having worked with some drone sims. I wanted to dispel any doubt in my mind that I could derive drone physics from basic principles, instead of copy-pasting state equations. I went further and tried to motivate transport theorem, rotational analog of F=ma etc from scratch.

In summary: I take F=ma and extend it for rotational motion. (1) Calculating linear motion when the vehicle containing sensors is rotating. (2) Calculating rotation of the vehicle itself due to thrust/yaw force acting about its center of mass.

I'll echo what the other commenter said: this is no way PhD math. It may appear so - but I'm only being verbose with simpler concepts like cross products and rotation matrices.

[huqedato]

Ok man, for me it's PhD math. Waaaay above my high school level math. Perhaps you will write a version for layman like me, without advanced math and rather with more verbal explanations and animations.