Plant and Attitude Controller Model for Hexacopter
The UAV Toolbox Support Package for PX4® Autopilots contains a plant and an attitude controller model to fly a hexacopter drone that uses a Pixhawk Series flight controller.
Simulate the Plant Model for Hexacopter
The plant model,
px4demo_attitude_plant, simulates the 6 DOF,
and it outputs the roll, pitch, yaw and thrust values, which are then fed to the
InputConditioning subsystem in the
px4demo_attitude_control model. The attitude controller
generates PWM pulse widths which are then provided to the plant as feedback.
To open the plant model, enter the following command at the MATLAB prompt:
This plant model simulates the behavior when the roll command from the RC Transmitter varies; the pitch, yaw and thrust values are kept constant. The model can be modified to simulate changes for pitch and yaw as well.
px4demo_attitude_control subsystem takes the roll, pitch,
yaw and thrust values as input from user. It also accepts the vehicle attitude and
IMU measurements for gyroscope. These values are then fed to the PID controller. The
output of PID controller is fed to the mixer matrix for hexacopter to output the PWM
pulse widths. The PID controller might need to be tuned according to your airframe.
The mixer matrix will vary from airframe to airframe.
Generate Code for Controller for Hexacopter
The controller model,
px4demo_attitudeSystem, gathers the
inputs from Gyroscope, Radio Controller and Vehicle Attitude block and sends them to
the attitude controller
px4demo_attitude_control, which returns
the PWM pulse widths which are then published.
To open the controller model, enter the following command at the MATLAB prompt:
Build the above model and deploy it to the selected Pixhawk Series flight controller.
Adapting the Plant and Attitude Controller for Other Airframes
For modifying the controller for any other airframes, the corresponding mixer
matrix needs to be added by replacing the existing
function block in
The PID controller also needs to be tuned according to the airframe.