The tope view of a quadrotor are represented in the below figure. the parameters of quadrotor are l=0.5m, b=10cm, mass-2kg, lx-ly = 0.05 kg-m2 , iz-0.08 kg-m-.g 9.8 m/sec^2 = 0.00010産, τ,-0.000 105, τ,-0.000 1屿4° 0.000 1og (due to drag) a) calculate the angular velocities of the motors to have hovering flight. b) calculate the angular velocities of motors to have flight with acceleration 0.01m/sec2 c) calculate the angular velocities of motors to have flight with acceleration h -0.01m/sec2 d) when the attitude, velocity and angular velocity of quadrotor is zero and altitude is 50 m and x and y are zero, simulate the system when the angular velocities of motors are 11 rad /sec, co2 = 11.1 rad/sec, ω3 = 11.3 rud/sec, a4 = 10.9 rad/sec. e) plot time position, time atude, time -angular velocity, time- velocity l=0.5m に0.5 m