Building and Flying a Helicopter With a Virtual Swashplate

They say that drummers make the best helicopter pilots, because to master the controls of rotary-wing aircraft, you really need to be able to do something different with each limb and still have all the motions coordinate with each other. The control complexity is due to the mechanical complexity of the swashplate, which translates control inputs into both collective and cyclical changes in the angle of attack of the rotor blades.
As [Tom Stanton] points out in his latest video, a swashplate isn’t always needed. Multicopters dispense with the need for one by differentially controlling four or more motors to provide roll,

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