quadcoptor

Modelling and control of quadcopter

Mains

1. main_dynamics - Custom rotor commands
2. main_pd - PD controller
3. main_heuristic - Open-loop heuristic trajectory tracking
4. main_heuristic_pd - Heuristic trajectory tracking with PD controller

Functions

1. quadcoptor - Dynamic model of quadcoptor
2. rk4 - RK4 integrator

Reference

1. Luukkonen - Modelling and control of quadcoptor (2011)