# Yaw rate of a multi-rotor

Is there any type of relation that limits yaw rate of a multi-rotor (i.e quadcopter)?
Something like this relation for fixed wing aircraft: $$R = \frac{v^2}{g \tan(b)}$$, where $$R$$ is the minimum turning radius and $$b$$ is the maximum bank angle.

• note that that formula is for a coordinated turn. you might get a higher yaw rate if you remove this constraint. what kind of constraints are you interested in for your answer? – Federico Nov 17 '20 at 13:47