Abstract: A rotary-wing drone includes a drone body that includes an electronic board controlling the piloting of the drone, and four link arms that include a rigidly connected propulsion unit. The link arms form lift-producing wings.

Abstract: A method for dynamically controlling the attitude of a rotary-wing drone. The method includes dynamically controlling the attitude of the drone when the drone is flying using lift of each of four wings of the drone, by controlling the attitude of the drone by sending differentiated commands to one or more propulsion units of the drone so as to rotate the drone about a roll axis and/or pitch axis and/or heading axis of the drone from a current angular position to a final angular position, the axes being defined in the reference point of the drone.

Abstract: The drone comprises a body and a plurality of propulsion units, each provided with a propeller driven by a respective motor, the different motors being able to be controlled in a differentiated manner so as to pilot the drone in attitude and speed and with production of a lifting force. The accessory has a shaft that is removably fastened to the drone body in a transverse orientation with respect to the main direction of progression of the drone, and at a point located in alignment with the center of gravity of the drone and above that center of gravity. The accessory has two ring elements that are mounted freely in rotation, independently of each other, at the ends of the shaft and symmetrically with respect to the drone body. The density of these ring elements with respect to water is lower than the unit, and their diameter is higher than the overall size of the drone.