Main objective was to model and design the control system for the quadcopter in simulation.
Auxiliary scripts help to obtain the parameters of a specific physical quadcopter.
Regulation method for attitude is PD approach.
It is possible to use other control systems on the existing model.
In a simulation it is possible to adjust trajectory or attitude as desired.
Position and attitude control:
Visualisation of output data (sine wave desired altitude):
Visualisation of output data (sine wave desired roll angle):
Control system structure:
model - MATLAB/Simulink source files for simulation
Moment_of_inertia - script for specifying quadcopter model parameters (rigid body)
Motors_characteristics - script for specifying quadcopter model parameters (motors)
Tensometer_calibration - script for calibrating a measuring tool