kinematic and dynamic model of the quadrotor

[boonflies]

Can you provide some reference to the kinematic and dynamics equations of the quadrotor considered while motion planning and how they have been integrated while using moveIt? How do the motion planner that we find in motion planning plugin respond to the planning request as for a quadrotor?
Is the state of quadrotor represented with links analogous to state, (x,y,z,γ,β,α)
or
X = (t,x,y,z,V,β,α)
or
some other state space

[wilselby]

MoveIt just generates a global trajectory. Those positions are sent as waypoints to a position controller to compute motor commands. The model derivation is here:
https://www.wilselby.com/research/arducopter/model-verification/