The code will be further updated on https://github.com/RflyBUAA/DegradedControl.git
If you have any questions, please contact me by email at kcx064@163.com or kechenxu@buaa.edu.cn or ke_chenxu@buaa.edu.cn
Step: run in order
Model/H250ModelParam4S.mControl/H250_LOEUnknown_400HzParam.mMIL/Unknown_V1/H250_LOEUnknown_400HzV2.slx
If you want to run the controller in Pixhawk
- Pixhawk 4 (used in my experiment; v1.11.3; controller 400Hz; LPE 400Hz or higher, EKF2 is not stable subject to rotor failure)
- RflySim is used for CodeGen
HIL/Unknown_V1/H250_LOEUnknown_400HzHILV2.slxis the main file used for CodeGen
-
Control/FTC_UnknownV2.slxis the core controller used in the paper "Uniform Passive Fault-Tolerant Control of a Quadcopter with One, Two, or Three Rotor Failure." -
Control/FTC.slxis the core controller used in the paper "Uniform Fault-Tolerant Control of a Quadcopter with rotor failure"