Modellering och reglering av en oktakopter

Sammanfattning: This report deals with the theory and identification out of a multi-rotor craft, particularly an OktokopterXL from Mikrokopter.de. A model of the craft is constructed using Matlab Simulink and a PD controller is designed to control the attitude of the craft. The controller is auto generated from Matlab to C code which is then interwoven with the multi-rotor’s source code. The designed controller works well and also the model corresponds well with reality. The multirotor platform used is not very developer-friendly with hard to understand, uncommented code and where the navigation board source code is not open source. However, the price and performance still make it a very interesting platform.