Quadrotor body dynamics

Symbol	Description
${\mathbf{r}}_B$	Position of body frame origin in world frame (3 elements)
${\mathbf{v}}_B$	Velocity of body frame origin in world frame (3 elements)
${\mathbf{q}}_{WB}$	Attitude of body frame in world frame (quaternion, 4 elements)
${}^B{\mathbf{\omega }}_{WB}$	Angular velocity of body frame wrt world frame, expressed in body frame (3 elements)