diff --git a/Perception.cpp b/Perception.cpp
index 3ddc5d2..d0ac6d0 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -131,7 +131,7 @@ float Perception::GetDistance(float fromAngle, float toAngle) {
 
       if (thing->type == Thing::DistanceSensorType) {
         DistanceSensor* distanceSensor = (DistanceSensor*)thing;
-        if (distanceSensor != nullptr && distanceSensor->IsOn())
+        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
           minDistance = fmin(minDistance, distanceSensor->GetDistance());
       }
     }
@@ -161,7 +161,7 @@ float Perception::GetDistance(float fromHorizontalAngle,
 
       if (thing->type == Thing::DistanceSensorType) {
         DistanceSensor* distanceSensor = (DistanceSensor*)thing;
-        if (distanceSensor != nullptr && distanceSensor->IsOn())
+        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
           minDistance = fmin(minDistance, distanceSensor->GetDistance());
       }
     }
@@ -194,4 +194,3 @@ bool Perception::ObjectNearby(float fromAngle, float toAngle) {
   }
   return false;
 }
-
diff --git a/Quadcopter.cpp b/Quadcopter.cpp
new file mode 100644
index 0000000..af04794
--- /dev/null
+++ b/Quadcopter.cpp
@@ -0,0 +1,38 @@
+#include "Quadcopter.h"
+
+Quadcopter::Quadcopter() {}
+
+void Quadcopter::SetTwistSpeed(float forward, float yaw) {
+  this->velocity = Vector3::forward * forward;
+  this->yawSpeed = yaw;
+}
+
+void Quadcopter::SetTwistSpeed(Vector2 linear, float yaw) {
+  this->velocity = Vector3(linear.x, 0.0F, linear.y);
+  this->yawSpeed = yaw;
+}
+
+void Quadcopter::SetTwistSpeed(Vector3 velocity,
+                               float yaw,
+                               float pitch,
+                               float roll) {
+  this->velocity = velocity;
+  this->yawSpeed = yaw;
+  this->rollSpeed = roll;
+  this->pitchSpeed = pitch;
+}
+
+Vector3 Quadcopter::GetTargetVelocity() {
+  return this->velocity;
+}
+
+float Quadcopter::GetPitchSpeed() {
+  return this->pitchSpeed;
+}
+
+float Quadcopter::GetYawSpeed() {
+  return this->yawSpeed;
+}
+float Quadcopter::GetRollSpeed() {
+  return this->rollSpeed;
+}
diff --git a/Quadcopter.h b/Quadcopter.h
new file mode 100644
index 0000000..6c7b212
--- /dev/null
+++ b/Quadcopter.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "Propulsion.h"
+#include "Thing.h"
+#include "Vector3.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief Support for Quadcopter as a propulsion method
+class Quadcopter : public Propulsion {
+ public:
+  /// @brief Default constuctor
+  Quadcopter();
+
+  virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
+  virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
+  virtual void SetTwistSpeed(Vector3 linear,
+                             float yaw = 0.0F,
+                             float pitch = 0.0F,
+                             float roll = 0.0F) override;
+
+  Vector3 GetTargetVelocity();
+  float GetYawSpeed();
+  float GetPitchSpeed();
+  float GetRollSpeed();
+
+ protected:
+  Vector3 velocity = Vector3::zero;
+  float pitchSpeed = 0.0F;
+  float yawSpeed = 0.0F;
+  float rollSpeed = 0.0F;
+};
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;
\ No newline at end of file