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!

##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 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.

1. Load with simulink:

load_model('modelo2a.slx')

...
2. Start Flightgear with arguments to listen for network connections:

./fgfs --fdm=network,localhost,5501,5502,5503 --fog-fastest --disable-clouds --in-air --enable-freeze --aircraft=QUADLSE  

...
3. Fly
4. Tweak
5. goto 3