The multirotor platform used in this thesis is a hexarotor. It consists of six arms
all connected symmetrically to the central hub. At the end of each arm a propeller
driven by an electric motor is attached. All the propellers have fixed pitch
blades, meaning that propellers can not be tilted (The movement of the classic
helicopter is controlled by pitching the main propeller). The electronics used
for communication and control are placed on the central hub together with the
battery