Model-based Control

Moments of Inertia

https://en.wikipedia.org/wiki/Moment_of_inertia https://en.wikipedia.org/wiki/List_of_moments_of_inertia

Solid cuboid

I = 1/12 M ( a^2 + b^2 )

Camera Panasonic

width 2.5 cm height 5.5 cm length 9 cm

pitch: I \propto 2.5^2 + 5.5^2 = 36.5 -> 1

roll: I \propto 5.5^2 + 9^2 = 111.25 -> 3.05

yaw: I \propto 2.5^2 + 9^2 = 87.25 -> 2.39

Camera GoPor Hero5

width 2.5 cm height 4.5 cm length 6.3 cm

pitch: I \propto 2.5^2 + 4.5^2 = 26.5 -> 1

roll: I \propto 4.5^2 + 6.3^2 = 59.94 -> 2.26

yaw: I \propto 2.5^2 + 6.3^2 = 45.94 -> 1.73