https://github.com/arlk/cf-geometric-matlab
A Simulink implementation of the geometric controller on a simple Crazyflie model
https://github.com/arlk/cf-geometric-matlab
Last synced: 4 months ago
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A Simulink implementation of the geometric controller on a simple Crazyflie model
- Host: GitHub
- URL: https://github.com/arlk/cf-geometric-matlab
- Owner: arlk
- License: ncsa
- Created: 2017-09-29T02:46:14.000Z (almost 9 years ago)
- Default Branch: master
- Last Pushed: 2017-09-29T03:03:37.000Z (almost 9 years ago)
- Last Synced: 2025-10-26T04:23:05.219Z (8 months ago)
- Language: Matlab
- Size: 73.2 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
# Geometric Controller for Crazyflie on MATLAB/Simulink
### How to run?
Open MATLAB 2017a or greater and run `main.m`:
```
>> main
```
You can change `T` in `main.m` to increase/reduce simulation time.
### How to change model parameters?
Edit `functions/model_utils/crazyflie.m`
### How to change controller parameters?
Edit `functions/control_utils/geometric_control.m`
### How to change estimator parameters?
Edit `functions/control_utils/est_params.m`
### How to disable the estimator and make the controller effectively state-feedback?
Set `enable_est = 0` in `main.m`.
### How to edit the plotting function (change limits/colors/markers)?
Edit `functions/plot_utils/plot_traj.m`
### How to change the trajectory?
This is a little cumbersome. You will need to open up the Simulink model and edit or replace the `circle` block.