Multicopter framework

Simulation and stabilization of a multicoper written with Python.

Quick start

Run multicopter package from the inside of repository directory.

python -m multicopter\
--path_to_config <PATH TOCONFIG>\
--simulation_time <TIME IN SECONDS>\
--number_of_points <NUMBER OF TIME POINTS>\

If you want to plot phase vector and rotor speeds, use flags --plot_phase and --plot_speeds.

Config example

G: 9.81NUM_ROTORS: 4ROTOR_ANGELS: [0, 90, 180, 270]M: 0.3L: 0.225K: 2.980e-6B: 1.140e-7J_X: 4.856e-3J_Y: 8.801e-3J_Z: 4.856e-3