The objective of this lab is to develop a good Simulink simulator for the quadrotor that can be used throughout the semester to study and understand different schemes for controlling the quadrotor.
1. Carefully read and understand the lecture notes quadrotor_dynamics.pdf.
2. Download the Simulink files quadrotorsim_gutted.zip. Unzip and rename autopilot_gutted.m to autopilot.m and quadrotor_dynamics_gutted.m to quadrotor_dynamics.m
3. Modify quadrotor_dynamics.m so that the correct dynamics are implemented. Test the dynamics by modifying autopilot.m to place specified forces and torques on the quadrotor and verify that the translates and rotates in the correct directions.
4. Modify autopilot.m to implement the autopilot modes that you developed last semester in 483. Do they perform essentially like the hardware? Why or why not?
Todd Reeder and Brian Caldwell performed some experiements last year to determine the motor constants. They data that they collected is contained in MotorChar.xls and MotorChar_torque.xls.