This project is a quadcopter simulator in matlab. The model follows the article Quadcopter Dynamics and Simulation, which can be used as a beginner tutorial of quadcoptor control.

The parameters of the model can be seen in model parameter description

rotor_input.m provides the status of the quadcopter which will be fed into the quadcoptor. Run quadcopter after you make your custom modification.

Change the param.m to modify the global configuration, include PID parameters, simulator parameters and etc.

• 2016/10/16 Finish PID control.
• 2016/10/15 Finish VRML simulator.
• 2016/10/15 Finish PID control of height.