diff --git a/Propulsion.cpp b/Propulsion.cpp
index 64b75a2..7485dfa 100644
--- a/Propulsion.cpp
+++ b/Propulsion.cpp
@@ -102,3 +102,7 @@ void Propulsion::SetTwistVelocity(float forwardVelocity, float turningVelocity)
   float rightVelocity = Float::Clamp(forwardVelocity + turningVelocity, -1, 1);
   SetDiffDriveVelocities(leftVelocity, rightVelocity);
 }
+
+Quadcopter* Propulsion::GetQuadcopter() {
+    return quadcopter;
+}
\ No newline at end of file
diff --git a/Propulsion.h b/Propulsion.h
index b8c6d48..b05cbca 100644
--- a/Propulsion.h
+++ b/Propulsion.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "Quadcopter.h"
 #include "ControlledMotor.h"
 #include "Placement.h"
 #include "Vector2.h"
@@ -33,6 +34,7 @@ class Propulsion {
   void SetTwistVelocity(float forward, float yaw);
 
   // Think: drones
+  Quadcopter* GetQuadcopter();
   void SetLinearSpeed(Vector3 direction);
 
  protected:
@@ -40,4 +42,6 @@ class Propulsion {
   //MotorPlacement* motors = nullptr;
   Placement* placement = nullptr;
   unsigned int motorCount = 0;
+
+  Quadcopter* quadcopter = nullptr;
 };
diff --git a/Quadcopter.cpp b/Quadcopter.cpp
new file mode 100644
index 0000000..1bb7b04
--- /dev/null
+++ b/Quadcopter.cpp
@@ -0,0 +1,9 @@
+#include "Quadcopter.h"
+
+Quadcopter::Quadcopter() {
+}
+
+void Quadcopter::LinearMotion(Vector3 velocity, float yawRate) {
+	this->velocity = velocity;
+	this->yawRate = yawRate;
+}
\ No newline at end of file
diff --git a/Quadcopter.h b/Quadcopter.h
new file mode 100644
index 0000000..8b71e23
--- /dev/null
+++ b/Quadcopter.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include "Thing.h"
+#include "Vector3.h"
+
+class Quadcopter : public Thing {
+public:
+	Quadcopter();
+
+	void LinearMotion(Vector3 velocity, float yawRate = 0.0F);
+protected:
+	Vector3 velocity = Vector3::zero;
+	float yawRate = 0.0F;
+};
\ No newline at end of file
diff --git a/Sensing.h b/Sensing.h
index e676152..10d48d1 100644
--- a/Sensing.h
+++ b/Sensing.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "Sensor.h"
 #include "Placement.h"
 
 #include <list>