General Info

This repository contains Simulink models of 6DOF systems based on px4 autopilot control system.

Table of contents

1. Installation
2. 6DOF Quadcopter
3. References

Installation

All models built and tested on Matlab/Simulink 2023a.

Clone the repository to your PC, add the folder to Matlab path and open the model.

6DOF Quadrotor

• px4_6dof_quadrotor_simscape.slx :

The 6DOF model based on this Github repository.

TODO

• Add attitude, position and velocity controllers.
• Convert signals to bus elements.
• Add INS model.
• Add EKF based on px4 architecture.
• Add visualization to the simulation.
• Add motor models instead of the approximate ones.

References

1. PX4-Autopilot on github
2. PX4 Attitude controller schematics
3. MAVROS Controllers
4. Quadrotor plant and control on simulink
5. Quadcopter-Drone-Model-Simscape