Drone MATLAB simulation
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MATLAB simulation
Once the drone hardware (mass, configuration, motor and propeller) is known, then it can be simulated in Matlab simulink. The script in the doc/matlab directory has scrips for the simulation and estimating a linear transfer function in an operating point and calculate the needed controller parameters (roll, pitch, yaw - velocity and position as well as height control).
Further controllers for lateral velocity are added too, but these last controllers are not included in the drone firmware.
Simulink model of hexacopter.
Sim mechanics simulated hex-drone hoovering.
