Built to fly like the real thing

Simulated motors, not animated ones

Each of the four aircraft has its own mass, peak thrust per motor and thrust-to-weight ratio. Motor RPM follows first-order spool-up and spool-down responses; thrust follows a configured RPM exponent, voltage and motor health.

A rate controller compares requested and actual body rotation using real PID and feedforward terms, mixing torque across a 4×4 motor allocation matrix built from each aircraft’s actual motor positions.