I'm a control researcher, and it s been 2 months that I'm working with an erlecopter, my goal was to identify the control law used ( PIDs) and replace them by a more sophisticated type of contol ( HSM). For this purpose I had to develop a mathématical model for the copter, as you know the ardupilot project doen't use any model, the estimation of the vector state is done directly through EKF and DCM using simple integrations.
When we talk about a model, we surely talk about parameters and constants,and here comes my question, Have any one of you calculated the different constants of the erle copter, Especialy the constants of the motor ? and the different constants to calculate the moment of inertia for each axes ( mass, dimensions ..) . The purpose is to compare our respective values, I can share mine.
I also developed, a simulink/Matlab implementation with 2 differents types of control, if anyone of you has a project in this way and wants a collaboration, I will be really glad.
Dont forget guys, if you have already calculated the constants, please share
Have a Nice Day