A question about the math model of the quadcopter

[tmedc]

In the file "quadcopter.py",line 73: x_dotdot = np.array([0,0,-self.quads[key]['weight']*self.g]) + np.dot(self.rotation_matrix(self.quads[key]['state'][6:9]),np.array([0,0,(self.quads[key]['m1'].thrust + self.quads[key]['m2'].thrust + self.quads[key]['m3'].thrust + self.quads[key]['m4'].thrust)]))/self.quads[key]['weight'] I think it should be : x_dotdot = np.array([0,0,-self.g]) + np.dot(self.rotation_matrix(self.quads[key]['state'][6:9]),np.array([0,0,(self.quads[key]['m1'].thrust + self.quads[key]['m2'].thrust + self.quads[key]['m3'].thrust + self.quads[key]['m4'].thrust)]))/self.quads[key]['weight']