The Main tab contains the Initialization script to create, build, and animate the Quadcopter actor. You must include the configuration block when building Simulink models with Simulation 3D Actor blocks.ĭouble-click the Simulation 3D Actor block named Quadcopter to open the Block Parameters dialog box. The Simulation 3D Scene Configuration block implements a 3D simulation environment. Three no-fly zones were defined for each of the auxiliary power generators, so in case there is a failure in the quadcopter, it does not cause any damage to the campus infrastructure.The model includes a Simulation 3D Scene Configuration block and a Simulation 3D Actor block named Quadcopter. The default data contains poses for specific locations at which the toy quadcopter uses its cameras so the pilot on the ground can estimate the height of the snow on the roof. To clear the values in the waypoint and no-fly zone panel, click Clear. To load the default trajectory, press the Load Default button. To load the last saved trajectory, click Load. This button only saves your last trajectory. To save the trajectory that is currently in your panel, click the Save button. To generate the trajectory, add the waypoint and no-fly zone characteristics to the respective panels, then click Generate Trajectory. This panel plots the trajectory over the Apple Hill campus aerial schematic based on the waypoints and no-fly zone characteristics. Use the Add, Delete, Edit, OK, and Cancel buttons in the same way as for the Waypoints panel. You can visualize the variables for the quadcopter in one of the following ways: For more information on how to do this, see the Simulink Control Design Get Started with Simulink Control Design (Simulink Control Design)).

To make sure that the trajectory generation tool works properly, the example implements a test in the trajectoryTest file. The model uses the trimLinearizeOpPoint to linearize the nonlinear model of the quadcopter using Simulink Control Design (R).

To include these models, you can change the VSS_ENVIRONMENT variable in the workspace to toggle between variable and fixed environment models. The models implement several Aerospace Blockset™ environment blocks, including those for atmosphere and gravity models. To include sensor dynamics with these measurements, you can change the VSS_SENSORS variable in the workspace.

The example stores the characteristics for the sensors in the file sensorVars. An Inertial Measurement Unit (IMU) to measure the angular rates and translational accelerations.

Quadcopter simulink model download