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README.txt

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+    This is the instructional package for 'Multicopter Design and Control Practice'.
+    The model in "e0" is mainly used for the introduction of the experimental platform, corresponding to the relevant  content in Chapters 3 and 4 of the book.
+    The last 8 chapters of the book correspond to 8 experiments, of which Propulsion System Design Experiment has no relevant instructional package. Experiments 2 to 8 correspond to the contents of Chapters 6 to 12, and the corresponding files are e2 to e8.
+    There are three sub-files in each folder, which correspond to the basic experiment, analysis experiment and design experiment in each experiment. Analysis experiment of chapter 2 has no source file package--"e2/e2.2",becasuse  it mainly focus on theoretical calculation and analysis.
+
+    The comparison between the instructional package and each experiment is as follows:
+    e2:Dynamic Modeling Experiment;
+    e3:Sensor Calibration Experiment;
+    e4:State Estimation and Filter Design Experiment;
+    e5:Attitude Controller Design Experiment;
+    e6:Set-point Controller Design Experiment;
+    e7:Semi-autonomous Control Model Design Experiment;
+    e8:Failsafe Logic Design Experiment.
+
+    We don't provid design experiment package for students, and the code begining with "%@ " should be compeleted to make it right to run.If you can be certified as a teacher, we will give you all the packages.

e0/1.SoftwareSimExps/Init_control.m

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+path(path, './icon/');
+
+%模型参数 运行模型初始化文件icon/init.m
+Init;
+
+
+%PID参数
+Kp_RP_ANGLE =6.5;
+Kp_RP_AgngleRate = 0.55;
+Ki_RP_AgngleRate = 0.01;
+Kd_RP_AgngleRate = 0.005;
+
+Kp_YAW_AngleRate = 3.2;
+Ki_YAW_AngleRate = 0.8;
+Kd_YAW_AngleRate = 0.05;
+%最大控制角度，单位度
+MAX_CONTROL_ANGLE_RP = 45;
+MAX_CONTROL_ANGLE_Y = 180;
+%最大控制角速度，单位度
+MAX_CONTROL_ANGLE_RATE_RP = 180;
+MAX_CONTROL_ANGLE_RATE_Y = 90;

e0/1.SoftwareSimExps/icon/Init.m

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+load MavLinkStruct.mat;
+%PID Parameters
+Kp_RP_ANGLE =6.5;
+Kp_RP_AgngleRate = 0.10;
+Ki_RP_AgngleRate = 0.02;
+Kd_RP_AgngleRate = 0.001;
+
+Kp_YAW_AngleRate = 0.3;
+Ki_YAW_AngleRate = 0.1;
+Kd_YAW_AngleRate = 0.00;
+%integral saturation
+Saturation_I_RP_Max=0.3;
+Saturation_I_RP_Min=-0.3;
+Saturation_I_Y_Max=0.2;
+Saturation_I_Y_Min=-0.2;
+%thrust when UAV hover
+THR_HOVER=0.609;
+%max control angle
+%default 35deg
+MAX_CONTROL_ANGLE_ROLL = 35;
+MAX_CONTROL_ANGLE_PITCH  = 35;
+%max control angle rate
+MAX_CONTROL_ANGLE_RATE_PITCH = 220;
+MAX_CONTROL_ANGLE_RATE_ROLL = 220;
+MAX_CONTROL_ANGLE_RATE_Y = 200;
+
+%Initial condition
+ModelInit_PosE = [0,0,0];
+ModelInit_VelB = [0,0,0]; 
+ModelInit_AngEuler = [0,0,0]; 
+ModelInit_RateB = [0,0,0];
+ModelInit_RPM = 0; %Initial motor speed(rad/s)
+
+%UAV model parameter
+ModelParam_uavMass = 1.4; %Mass of UAV(kg)
+ModelParam_uavJxx = 0.0211;
+ModelParam_uavJyy = 0.0219; 
+ModelParam_uavJzz = 0.0366;
+%Moment of inertia matrix
+ModelParam_uavJ= [ModelParam_uavJxx,0,0;...
+    0,ModelParam_uavJyy,0;...
+    0,0,ModelParam_uavJzz];
+ModelParam_uavType = int8(3); %X-type quadrotor£¬refer to "»úÐͶ¨ÒåÎĵµ.docx" for specific definitions
+ModelParam_uavMotNumbs = int8(4);  %Number of motors
+ModelParam_uavR = 0.225;   %Body radius(m)
+
+ModelParam_motorCr = 1148; %Motor throttle-speed curve slope(rad/s)
+ModelParam_motorWb =-141.4;  %Motor speed-throttle curve constant term(rad/s)
+ModelParam_motorT = 0.02;  %Motor inertia time constant(s)
+ModelParam_motorJm = 0.0001287;    %Moment of inertia of motor rotor + propeller(kg.m^2)
+%M=Cm*w^2
+ModelParam_rotorCm = 1.779e-07;    %Rotor torque coefficient(kg.m^2)
+%T=Ct**w^2
+ModelParam_rotorCt = 1.105e-05;    %Rotor thrust coefficient(kg.m^2)
+ModelParam_motorMinThr = 0.05;     %Motor throttle dead zone(kg.m^2)
+
+ModelParam_uavCd = 0.073;   %Damping coefficient(N/(m/s)^2)
+ModelParam_uavCCm = [0.01 0.01 0.0055]; %Damping moment coefficient vector(N/(m/s)^2)
+ModelParam_uavDearo = 0.12;  %Vertical position difference of Aerodynamic center and gravity center(m)
+
+ModelParam_GlobalNoiseGainSwitch =1;   %Noise level gain
+
+%Environment Parameter
+ModelParam_envGravityAcc = 9.8;  %Gravity acceleration(m/s^2)
+ModelParam_envLongitude = 116.259368300000;  
+ModelParam_envLatitude = 40.1540302;         
+ModelParam_GPSLatLong = [ModelParam_envLatitude ModelParam_envLongitude];  %Latitude and longitude
+ModelParam_envAltitude = -41.5260009765625;     %Reference height, down is positive
+ModelParam_BusSampleRate = 0.001;            %Model sampling rate
+