Thanks for the info. I appreciate the physics knowledge applied to quadcopters. That answered my question(s). Due to the masses involved, I see that i may need to use some ancillary yaw control. I don't anticipate adjusting yaw at the same rate as a quadcopter, but a stable and authoritative yaw control would be necessary. I have been trying to get my head wrapped around these issues, and you have been very helpful. Thx.