graph TB 7cab27a0d3555dcc["Aerodynamics"] 87beb498cbf7de7b["**Motor dynamics**"] 07a331a2aa71c9d4["Body dynamics"] 7f8b0d9c11685933["Real/simulated quadrotor"] 87beb498cbf7de7b --> |prop angular rates| 7cab27a0d3555dcc 7cab27a0d3555dcc --> |aerodynamic forces and moments| 07a331a2aa71c9d4 07a331a2aa71c9d4 --> |linear and angular acceleration| 7f8b0d9c11685933