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Quadcopter simulation in MATLAB/Simulink\n\nMain objective was to model and design the control system for the quadcopter in simulation.   \nAuxiliary scripts help to obtain the parameters of a specific physical quadcopter.   \nRegulation method for attitude is PD approach.  \nIt is possible to use other control systems on the existing model.  \n\n## Simulation example result\nIn a simulation it is possible to adjust trajectory or attitude as desired.\n\nPosition and attitude control:\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/639ddc2e-403c-49e3-8e2d-757c4fd235db\" width=\"49%\" height=\"auto\"/\u003e\n  \u003cimg src=\"https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/f11ace10-d537-4824-bee1-91825b3f0c01\" width=\"49%\" height=\"auto\"/\u003e\n\u003c/p\u003e\n\nVisualisation of output data (sine wave desired altitude):\n\n![Altitude_sine](https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/61c91293-be52-4cb9-950e-3c093b689976)\n\nVisualisation of output data (sine wave desired roll angle):\n\n![Orientation_sine](https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/fb353c09-91c2-4ed5-84b0-7c3b71f74747)\n\nControl system structure:\n\n![Closed_loop_quadcopter](https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/7360aa53-fd18-4b61-8b31-a34e55ddf3c1)\n\n## Folders\n\n`model` - MATLAB/Simulink source files for simulation   \n`Moment_of_inertia` - script for specifying quadcopter model parameters (rigid body)   \n`Motors_characteristics` - script for specifying quadcopter model parameters (motors)  \n`Tensometer_calibration` - script for calibrating a measuring tool  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