% test_nonlinear_pid Simulate nonlinear hover with given PID gains. % test_nonlinear_pid(Kp,Ki,Kd) runs a 10s sim and plots h(t), % then prints overshoot (%) and settling time (2%).

It’s a 1.0-litre twin-rotor ’10A’, producing, when it was new, 82kW of power and 134Nm of torque. It might not sound like much grunt today but when you take into account the entire vehicle ...

Power comes from a 13B twin-rotor twin-turbo rotary engine, producing around 206kW of power – depending on the specific variant. This example though, it features the V8 engine from a 2001 ...