Multicopter Design and Control Practice¶
This book is divided into two main parts: the experimental platform and the experimental tasks. The experimental platform is built upon the specially designed RflySim platform for this book. The RflySim platform integrates the multicopter, Pixhawk flight controller, and MATLAB Simulink programming language closely, following the modern development methodology of "Model-Based Design (MBD)." The experimental tasks consist of eight progressively structured experiments: power system design, dynamic modeling, sensor calibration, filter design, attitude controller design, position hold controller design, semi-autonomous control mode design, and fail-safe logic design—completing the entire process of multicopter design and control practice. This book is suitable for readers interested in UAVs, especially multicopter design and control, and can also serve as a practical component for specialized courses. Book purchase link: Click here; Online video course learning website: Click here.
Example programs accompanying the textbook can be downloaded via the RflySim toolchain. After installation, follow the instructions in the table below to navigate to the corresponding chapter folders. When conducting experiments, please carefully read the Readme.pdf file in each folder first. Due to ongoing updates and iterations of RflySim, the specific experimental procedures may differ from those described in the textbook; therefore, always refer to the Readme.pdf file for the most accurate guidance.
| Directory | Slides | Code |
|---|---|---|
| Lecture 01_Course Introduction | Readme | None |
| Lecture 02_Experimental Platform Configuration | Readme | None |
| Lecture 03_Experimental Platform Usage | Readme | None |
| Lecture 04_Experimental Workflow Introduction | Readme | code |
| Lecture 05_Experiment 1_Dynamic System Design Experiment | Readme | code |
| Lecture 06_Experiment 2_Dynamic Modeling Experiment | Readme | code |
| Lecture 07_Experiment 3_Sensor Calibration Experiment | Readme | code |
| Lecture 08_Experiment 4_Filter Design Experiment | Readme | code |
| Lecture 09_Experiment 5_Attitude Controller Design Experiment | Readme | code |
| Lecture 10_Experiment 6_Hold-Position Controller Design Experiment | Readme | code |
| Lecture 11_Experiment 7_Semi-Autonomous Control Mode Design Experiment | Readme | code |
| Lecture 12_Experiment 8_Failsafe Logic Design Experiment | Readme | code |