Quadrotor Unmanned Aerial Vehicles (UAVs) are flying mechatronic systems equipped with propellers, motors, electronic speed controllers, and sensors integrated into their cross-shaped structure. Quadrotor UAVs are widely recognized as the most promising configuration of UAV for their controllability and relatively low cost. Among brushless motors, Permanent Magnet Synchronous Motors (PMSMs) are remarkably dependable and efficient. Without compromising the torque generation capability, PMSMs can help reduce the size of the platform thanks to their power-to-size ratio. PMSMs enhance UAV control by generating thrust and improving maneuverability. The literature rarely considers motor dynamics even though it is crucial for the development of the drone digital twin.