I've defined the moments of inertia as follows for each axises:

J0yaw = 1/4*m*Rp^2; % Mass yaw moment of inertia

J0pitch = 1/4*m*Rp^2; % Mass pitch moment of inertia

J0roll = 1/2*m*Rp^2; %Mass roll moment of inertia

• Jpitch=J0pitch+(m⋅a2)
• Jyaw=J0yaw+(m⋅a2)
• Jroll=J0roll

I'm using these definitions to calculate the angular frequency and stiffness:

% Calculate stiffness for the current frequency

omega_pitch = 2*pi*f_pitch(i);

omega_yaw = w_omega_pitch;

K_psi = (w_omega_pitch^2) * J_pitch ;

K_theta = (w_omega_yaw^2) * J_yaw ;

but not sure about them. Any insights or resources you could share would be greatly appreciated!