QCOPT – Model of quadrucopter

Block SymbolLicensing group: MODEL

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

This block does not propagate the signal quality. More information can be found in the 1.4 section.

Input

u1..u4	motor input value	Double (F64)
R1	Block reset	Bool

Parameter

m	Total mass [kg] $⊙$ 1.0	Double (F64)
g	Gravity constant [m/s $^{2}$ ] $⊙$ 1.0	Double (F64)
KT	Rotor trust coefficient [N/u] $⊙$ 1.0	Double (F64)
KTT	Rotor torque coefficient [Nm/u] $⊙$ 1.0	Double (F64)
Ixx	Inertia tensor entry $⊙$ 1.0	Double (F64)
Iyy	Inertia tensor entry $⊙$ 1.0	Double (F64)
Izz	Inertia tensor entry $⊙$ 1.0	Double (F64)
pM	Rotors position matrix [x1 y1 z1; x2 y2 z2; x3 y3 z3; x4 y4 z4] $⊙$ 1.0	Double (F64)

Output

sx	Position of the mass centre [m]	Double (F64)
sy	Position of the mass centre [m]	Double (F64)
sz	Position of the mass centre [m]	Double (F64)
vx	Velocity of the mass centre[m/s]	Double (F64)
vy	Velocity of the mass centre[m/s]	Double (F64)
vz	Velocity of the mass centre[m/s]	Double (F64)
ax	Euler angle [rad]	Double (F64)
ay	Euler angle [rad]	Double (F64)
az	Euler angle [rad]	Double (F64)
ox	derivative of Euler angle [rad/s]	Double (F64)
oy	derivative of Euler angle [rad/s]	Double (F64)
oz	derivative of Euler angle [rad/s]	Double (F64)
vxb	Velocity in the body frame	Double (F64)
vyb	Velocity in the body frame	Double (F64)
vzb	Velocity in the body frame	Double (F64)

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