# How to calc the best center of gravity for quadcopters?

Usually it is recommended to balance the quadcopter drone in order to have the center of gravity in the center of the drone body, but this choice seems with the assumption the drone thrust is just straight up with perfect orthogonality, that makes perfectly sense if we assume the drone must be maintained flat in hovering or it moves upward only, but when the drone moves forward, actually it is slightly inclined so that the thrust force drag it forward, allowing it to cruise rather than moving straight up or remaining in hovering.

This makes me to assume there is:

• an optimal center of gravity for up direction and hovering (that is center)
• an optimal center of gravity for cruising flight (that is different from center)

How should be calculated the optimal center of gravity for cruising flight?

And in case is desired a general situations balance between the two, is it better to choose a center of gravity that is halfway between the two?