Dynamic drive

An aerial vehicle comprising:

• a central frame electro-mechanically connected to a central frame inertial measurement unit (IMU) adapted to output central frame inertial measurements to at least one controller;
• a motor frame comprising
• a central rod mounted in perpendicular to a longitudinal axis of the central frame;
• a pair of lateral arms each fixated to a different end of the central rod in parallel to the longitudinal axis of the central frame;
• motors attached opposing sides of the longitudinal axis of each lateral arm, each motor having a rotor;
• a motor frame IMU connected to the motor frame and adapted to output motor frame inertial measurements of the motor frame to the at least one controller;
• wherein the controller is configured to maintain and adjust the roll and yaw of central frame based from measurements made by motor frame IMU by adjusting the rotational speed of each motor and the rotational direction of each rotor;
• wherein the central frame is further electro-mechanically connected to:
• the at least one controller adapted to calculate control signals for rotating the central frame according to the central frame inertial measurements, and
• a stabilizing motor in the central frame connected to the central rod adapted to rotate the central frame according to the control signals.