Crazyflie Quadcopter Simulation Using Simmechanics

Quadcopter Simulator

*Run Crazyflie_Param before the simulink file.
This uses Crazyflie parameters to simulate a quadcopter.
Attitude controller uses nested PID controller that comes with the Crazyflie firmware.
Input is PWM where 65535 is the maximum value. (16 bit which is same as Crazyflie Firmware)
PWM to thrust and propeller rotation mapping is from Crazyflie System Identification paper. (System Identication of
the Crazyflie 2.0 Nano Quadrocopter by Julian Forster)
Position to attitude tracker uses a simple PID controller to map x,y error to roll, pitch reference.
I made this for class project. It is simple, does not require any toolboxes (which is why I made it), and organized in a way that is easy to follow. I hope this helps with whatever project you guys are working with!