The only way of controlling the hex

The only way of controlling the hexarotor is through its propellers. Each pro-
peller produces an upward thrust by pressing air downwards. Since the source

of the thrust is located outside the center of gravity, differential thrust can be

used to rotate the vehicle. The rotation of the rotors (motors and propellers) also

produce a reaction torque opposite of the direction of the rotation. Since half of

the propellers are spinning in one direction, the net torque when all rotors have

equal speed is zero.