Arducopter simulink model

[Raviv Raz]

Hi,

I’m trying to build a Simulink model to simulate arducopter 3.3.3 and in particular  ‘Stabilze’ and ‘AltHold’ modes.

Does know of an existing one?

Thanks

Raviv.

[Wil Selby]

Hey Raviv,

I made a Simulink model and MATLAB script for implementing a basic PID control system. I was developing a custom autopilot code using some of the ArduCopter libraries and wanted to test the PID gains in a simulated environment. I didn't implement the full ArduCopter control system since it was outside the scope of my project but maybe this can be a warm start on your project. I have position, attitude, and angular rate control loops.

The description and write-up is here (at the bottom of the page):
http://www.wilselby.com/sample-page/research/arducopter/simulation-environment/

and my code and files are here:
https://github.com/wilselby/MatlabQuadSimAP

Hope this helps and good luck!
Wil