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Drone/Quad-Copter math primer. Any good resources?
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How from scratch are you talking? Probably lots of electrical, signals, and controls. Which is gunna include a decent amount of dynamics and linear algebra.
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It's not specifically quad copters, but Spaceflight Dynamics by Wiesel covers a lot of the rigid body dynamics. Past that it's really just the propulsion stuff you need.

P.S. and beyond that, I'd look for info on PID control and tuning.

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