Testing To make sure that the trajectory generation tool works properly, the example implements a test in the trajectoryTest file.

To show the quadcopter in a three-dimensional environment, it uses Simulink 3D Animation.

For the collaborative development of a flight simulation application, it provides an implementation of the Flight Simulation application template.

The x -axis starts at the center of gravity and points in the direction along the nose of the quadcopter.

The z -axis starts at the center of gravity and points downward from the quadcopter, following the right-hand rule.

Mass and Inertia We assume that the whole body works as a particle.

The file vehicleVars contains the values for the inertia and mass.

Rotors Rotor 1 rotates positively with respect to the z -axis.

It is located parallel to the xy -plane, -45 degrees from the x -axis.

Rotor 2 rotates negatively with respect to the bodys z -axis.

It is located parallel to the xy -plane, -135 degrees from the x -axis.

It is located parallel to the xy -plane, 135 degrees from the x -axis.

It is located parallel to the xy -plane, 45 degrees from the x -axis.

This example uses the approach defined by Prouty1 and adapted to a heavy-lift quadcopter by Ponds et al2.

Control For control, the quadcopter uses a complementary filter to estimate attitude, and Kalman filters to estimate position and velocity.

The example implements: A PID controller for pitchroll control A PD controller for yaw A PD controller for position control in North-East-Down coordinates The controllerVars file contains variables pertinent to the controller.

The estimatorVars file contains variables pertinent to the estimator.

The example implements the controller and estimators as model subsystems, enabling several combinations of estimators and controllers to be evaluated for design.

To provide inputs to the quadcopter (in pitch, roll, yaw, North (X), East (Y), Down (Z) coordinates ), use one of the following and change the VSSCOMMAND variable in the workspace: A Signal Editor block A joystick Previously saved data Spreadsheet data Sensors The example uses a set of sensors to determine its states: An Inertial Measurement Unit (IMU) to measure the angular rates and translational accelerations.

The example stores the characteristics for the sensors in the file sensorVars.

To include sensor dynamics with these measurements, you can change the VSSSENSORS variable in the workspace.

Environment The models implement several Aerospace Blockset environment blocks, including those for atmosphere and gravity models.

To include these models, you can change the VSSENVIRONMENT variable in the workspace to toggle between variable and fixed environment models.

Quadcopter Simulink Model Download