arlk / cf-geometric-matlab

A Simulink implementation of the geometric controller on a simple Crazyflie model

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.