A multicopter's yaw control

A multicopter uses these principles of pitch, yaw, and roll to its advantage. In the following diagram, you can see that propellers 1 and 3 move in one direction, while 2 and 4 move in the other. By slowing down 1 and 3 while speeding up 2 and 4, you can make the multicopter yaw to the left. The torque of 2 and 4 spinning to the right makes the body spin to the left. Conversely, by slowing down 2 and 4 while speeding up 1 and 3, the multicopter yaws to the right.