Quadrotor UAV Simulator using Matlab, Simulink and Flightgear

# Quadrotor Simulator using Matlab/Simulink and Flightgear The aim of this simulator is to 1. provide a framework for control and dynamics simulation, 2. focus on the rigid body attitude control problem, 3. provide a nice way to visualize what's going on. I used it on my thesis to test a global, robust, non-linear controller based on Lyapunov functions. This controller can to track any arbitrary desired orientation of the Quadrotor within a specified error bound, and the results provide a way to translate bounded measurement and navigation errors to final pointing accuracy errors, and also to obtain a bound on the tracking accuracy given the timestep used for the digital implementation of the continuous controller. If you want to find out more please have a look at my [thesis](http://psic.fi.uba.ar/Publicaciones/Tesis/Rosito/Rosito.pdf)! [](https://www.youtube.com/watch?v=WUM7wxO1uRY) ##Blocks The modular approach allows for customization of the different blocks:  a. Command Generation Block / Joystick Input b. Controller Block c. Rigid Body Dynamics (UAV model) Block d. Navigation/Measurement Block e. Visualization Block Each block is implemented inside a standalone .m file that gets called from within simulink as a level-2 s-file. The name of the .m files is self explanatory (Quadrotor_Navigation.m, Quadrotor_Controller.m, etc.). Global initialization is done with a callback hooked up on ModelInit, implemented through modelo2Initialization.m ##Visualization with Flightgear The last block allows for Flightgear visualization, see [Flightgear-QUADLSE-Model](https://github.com/clausqr/Flightgear-QUADLSE-Model) for a nice UAV model to use with Flightgear. Otherwise it's straightforward. ##Structure Almost all functionality is implemented in separate .m files for easy tweaking. ## Launching 1. Load with simulink: ```bash load_model('modelo2a.slx') ``` ... 2. Start Flightgear with arguments to listen for network connections: ```bash ./fgfs --fdm=network,localhost,5501,5502,5503 --fog-fastest --disable-clouds --in-air --enable-freeze --aircraft=QUADLSE ``` ... 3. Fly 4. Tweak 5. goto 3