How does Flight Control System (FCS) access sensors when deployed onto the drone?

So I have the Quadcopter model (specifically FCS) deployed onto the drone and able to execute the flight. However, I now want to make changes on the FCS for which I need to access the sensors on the drone. Looking into the FCS, there is no such block that actually accesses the sensor from the drone. What I mean is: I cannot find the place in FCS that gets the sensor signals. I know that there is a Sensor block in the Quadcopter model, but this does not get deployed onto the drone, and this is the input into FCS as sensor signals. If this Sensor block does not get deployed onto the drone, the how is the drone (in real life) accessing the sensor data to fly itself? I would assume that there would be a block in FCS that actually tries to read the sensors on the Parrot Mambo.

Any help would be appreciated. Thank you.

[Mahmoud Elbeltagy]

I am alos searching for the answer of this question. I would like to know how the commnad signal is being sent to the drone along with the sensor info. Both of the command and sensor blocks are laying in the Quadcopter model, and the only mdoel being deployed is the FCS block. I am trying to change the X-Y-Z refrence and I am not able to do so, I really want to know where the signal is coming from.

Answer 1

[Vimal Rathod]

I am assuming that you are able to retrieve the sensor data from the drone and just want to know how to control the drone based on the sensor data received. Considering you have access to sensor blocks in the model, you can use the data coming from the sensors and do some computations and update the value in the actuator’s commands accordingly.

The following link contains a template for Quadcopter Simulink model which has sensor blocks and uses the sensor data as well to control the drone:

https://www.mathworks.com/help/supportpkg/parrot/ug/fly-parrot-minidrone-quadcopter-simulink-model.html

For more information on how to implement different functions on the code you could refer and explore the internal links of the following:

https://www.mathworks.com/help/supportpkg/parrot/index.html?s_tid=CRUX_lftnav