Through my research at the Marshall Space Flight Center and continued development as part of my undergraduate honors thesis, I have chosen to publish what I call the APM Multicopter Development Kit for Simulink. This toolkit includes a configurable dynamic model for a wide range of multicopter configurations, as well as a simple PID attitude control system using a Kalman filter for sensor fusion of the gyroscope and accelerometer. Please contact me if you have something that you would like to see added or corrected. Click on the picture below to view and download the guide. Beneath the guide you will find download links for the latest version of the toolkit.
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