EwingKang/QuadCopte​r-Quaternion-Dynamics-in-Simulink

Full quadcopter dynamics simulation using quaternion with propeller aerodynamics.

This is a pure-simulink quadrotor dynamics simulation without the requirement of any toolbox. The core kinematic is written using "Qauternion". And the propeller aerodynamics/ rotational dynamics is carefully modeled.
Quaternion is a famous method of representing attitude in space that preserve the intuativness and "complete" i.e. no pole. The quadrotor dynamics is dominate by simple rigid body dynamics, thus becoming a popular solution for autonomous vehicle.
I'm trying to model the dynamics as best as I can get it. Because I'm studying in AeroAstro department, I put more effort on the simulation of aerodynamics/rotational dynamics of the propeller. This includes the washing disk delay/damping of the air, interaction of propeller subject to different airflow, and ground effect.
It is not my own work of proposing these aerodynamic model and definately not the quaternion part, you may find my reference in the following section. The name of this simulink "OS4" is actually the name a quadrotor model created by Samir BOUABDALLAH in EPFL (ÉCOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNE). The thesis is my main reference for creating this simulation and is stated in the reference.