A multirotor drone with its three axes drawn through the centre of gravity: the longitudinal axis (red, nose to tail), the lateral axis (green, left to right) and the vertical or normal axis (blue, top to bottom). The drone rolls about the longitudinal axis (tilting left and right), then pitches about the lateral axis (nose up and down), then yaws about the vertical axis (nose turns left and right without tilting), then does all three together. The axes are fixed to the drone and move with it.
