This repository contains Simulink models of 6DOF systems based on px4 autopilot control system.

1. Installation
2. 6DOF Quadcopter
3. References

All models built and tested on Matlab/Simulink 2023a.

Clone the repository to your PC, add the folder to Matlab path and open the model.

• px4_6dof_quadrotor_simscape.slx :

The 6DOF model based on this Github repository.

TODO

• Add attitude, position and velocity controllers.
• Convert signals to bus elements.
• Add INS model.
• Add EKF based on px4 architecture.
• Add visualization to the simulation.
• Add motor models instead of the approximate ones.

1. PX4-Autopilot on github
2. PX4 Attitude controller schematics
3. MAVROS Controllers
4. Quadrotor plant and control on simulink
5. Quadcopter-Drone-Model-Simscape