├── 3D ├── Airmodel.m ├── All_Variables.m ├── Forces.m ├── Go1.m ├── IMU_meas.m ├── Kalman_X.m ├── Kalman_X2.m ├── Kalman_Y.m ├── Kalman_Y2.m ├── Kalman_Z.m ├── Kalman_Z2.m ├── Kalman_function1.m ├── Kalman_phi.m ├── Kalman_phi2.m ├── Kalman_psi.m ├── Kalman_psi2.m ├── Kalman_theta.m ├── Kalman_theta2.m ├── Kalmanfilter_prob1_sfun.mexw64 ├── Map.m ├── Motors_Speed.m ├── Motors_Speed_2.m ├── PID_X.m ├── PID_X_NC.m ├── PID_Y.m ├── PID_Y_NC.m ├── PID_Z.m ├── PID_Z_NC.m ├── PID_heading.m ├── PID_heading_NC.m ├── PID_pitch.m ├── PID_pitch_NC.m ├── PID_roll.m ├── PID_roll_NC.m ├── Quadrotor.mat ├── XY_meas.m ├── Y_Backstepping.m ├── Z_meas.m ├── copter_model.m ├── copter_model_3D.m ├── example.m ├── phi_meas.m ├── plot_X.m ├── plot_XY.m ├── plot_Y.m ├── plot_Z.m ├── plot_forces.m ├── plot_motors.m ├── plot_phi.m ├── plot_psi.m ├── plot_quad.m ├── plot_quad_3D.m ├── plot_theta.m ├── quadmodel.m ├── rotateXYZ.m ├── rotateXYZ2.m └── script2run.m ├── 3D_with_LIDAR ├── 3D + LIDAR │ ├── 1.jpg │ ├── Airmodel.m │ ├── All_Variables.m │ ├── Forces.m │ ├── Go1.m │ ├── IMU_meas.m │ ├── Kalman.jpg │ ├── Kalman_X.m │ ├── Kalman_X2.m │ ├── Kalman_Y.m │ ├── Kalman_Y2.m │ ├── Kalman_Z.m │ ├── Kalman_Z2.m │ ├── Kalman_function1.m │ ├── Kalman_phi.m │ ├── Kalman_phi2.m │ ├── Kalman_psi.m │ ├── Kalman_psi2.m │ ├── Kalman_theta.m │ ├── Kalman_theta2.m │ ├── Kalmanfilter_prob1_sfun.mexw64 │ ├── LIDAR_Plot.m │ ├── Map.m │ ├── Motors_Speed.m │ ├── Motors_Speed_2.m │ ├── Obstacles_X12_Y12_Z12.fig │ ├── Obstacles_X12_Y12_Z12.png │ ├── PID_Roll.jpg │ ├── PID_X.m │ ├── PID_X_NC.m │ ├── PID_Y.m │ ├── PID_Y_NC.m │ ├── PID_Z.m │ ├── PID_Z_NC.m │ ├── PID_heading.m │ ├── PID_heading_NC.m │ ├── PID_pitch.m │ ├── PID_pitch_NC.m │ ├── PID_roll.m │ ├── PID_roll_NC.m │ ├── Path_manager.m │ ├── Quadrotor.mat │ ├── Quadrotor_sfun.mexw64 │ ├── READ ME.txt │ ├── SimInitial.m │ ├── SimInitial2.m │ ├── Sim_LIDAR.m │ ├── Sim_LIDAR_2.m │ ├── XY_meas.m │ ├── Y_Backstepping.m │ ├── Z_meas.m │ ├── copter_model.m │ ├── copter_model_3D.m │ ├── example.m │ ├── obstacle.m │ ├── obstacles.png │ ├── phi_meas.m │ ├── plot_X.m │ ├── plot_XY.m │ ├── plot_Y.m │ ├── plot_Z.m │ ├── plot_forces.m │ ├── plot_motors.m │ ├── plot_phi.m │ ├── plot_psi.m │ ├── plot_quad.m │ ├── plot_quad_3D.m │ ├── plot_theta.m │ ├── quadmodel.m │ ├── rotateXYZ.m │ ├── script2run.m │ ├── script2run2.m │ ├── simLIDARinitial.m │ └── slprj │ │ └── _sfprj │ │ └── Quadrotor │ │ └── _self │ │ └── sfun │ │ ├── info │ │ ├── binfo.mat │ │ ├── chart1_ZfxxQE31IEuUdTwkikIDi.mat │ │ ├── chart2_9mJDJgrA6frDphDvY5VxDD.mat │ │ └── chart3_01Yt7r9mvv6kgKbp23oyGC.mat │ │ └── src │ │ ├── Quadrotor_sfun.bat │ │ ├── Quadrotor_sfun.c │ │ ├── Quadrotor_sfun.exp │ │ ├── Quadrotor_sfun.h │ │ ├── Quadrotor_sfun.lib │ │ ├── Quadrotor_sfun.mak │ │ ├── Quadrotor_sfun.map │ │ ├── Quadrotor_sfun.mexw64.manifest │ │ ├── Quadrotor_sfun.mol │ │ ├── Quadrotor_sfun.obj │ │ ├── Quadrotor_sfun_debug_macros.h │ │ ├── Quadrotor_sfun_registry.c │ │ ├── Quadrotor_sfun_registry.obj │ │ ├── c1_Quadrotor.c │ │ ├── c1_Quadrotor.h │ │ ├── c1_Quadrotor.obj │ │ ├── c2_Quadrotor.c │ │ ├── c2_Quadrotor.h │ │ ├── c2_Quadrotor.obj │ │ ├── c3_Quadrotor.c │ │ ├── c3_Quadrotor.h │ │ ├── c3_Quadrotor.obj │ │ ├── mexopts.bat │ │ ├── rtwtypes.h │ │ └── rtwtypeschksum.mat └── 3D+LIDAR+path │ ├── 1.jpg │ ├── Airmodel.m │ ├── All_Variables.m │ ├── Forces.m │ ├── Go1.m │ ├── IMU_meas.m │ ├── Kalman.jpg │ ├── Kalman_X.m │ ├── Kalman_X2.m │ ├── Kalman_Y.m │ ├── Kalman_Y2.m │ ├── Kalman_Z.m │ ├── Kalman_Z2.m │ ├── Kalman_function1.m │ ├── Kalman_phi.m │ ├── Kalman_phi2.m │ ├── Kalman_psi.m │ ├── Kalman_psi2.m │ ├── Kalman_theta.m │ ├── Kalman_theta2.m │ ├── Kalmanfilter_prob1_sfun.mexw64 │ ├── LIDAR_Plot.m │ ├── Map.m │ ├── Motors_Speed.m │ ├── Motors_Speed_2.m │ ├── Obstacles_X12_Y12_Z12.fig │ ├── Obstacles_X12_Y12_Z12.png │ ├── PID_Roll.jpg │ ├── PID_X.m │ ├── PID_X_NC.m │ ├── PID_Y.m │ ├── PID_Y_NC.m │ ├── PID_Z.m │ ├── PID_Z_NC.m │ ├── PID_heading.m │ ├── PID_heading_NC.m │ ├── PID_pitch.m │ ├── PID_pitch_NC.m │ ├── PID_roll.m │ ├── PID_roll_NC.m │ ├── Path_manager.m │ ├── Quadrotor.mat │ ├── Quadrotor_sfun.mexw64 │ ├── READ ME.txt │ ├── SimInitial.m │ ├── SimInitial2.m │ ├── Sim_LIDAR.m │ ├── Sim_LIDAR_2.m │ ├── XY_meas.m │ ├── Y_Backstepping.m │ ├── Z_meas.m │ ├── copter_model.m │ ├── copter_model_3D.m │ ├── example.m │ ├── motor.jpg │ ├── motor2.jpg │ ├── obstacle.m │ ├── obstacles.png │ ├── path.jpg │ ├── phi1.jpg │ ├── phi_meas.m │ ├── plot_X.m │ ├── plot_XY.m │ ├── plot_Y.m │ ├── plot_Z.m │ ├── plot_forces.m │ ├── plot_motors.m │ ├── plot_phi.m │ ├── plot_psi.m │ ├── plot_quad.m │ ├── plot_quad_3D.m │ ├── plot_theta.m │ ├── psi1.jpg │ ├── quadmodel.m │ ├── rotateXYZ.m │ ├── script2run.m │ ├── script2run2.m │ ├── simLIDARinitial.m │ ├── slprj │ └── _sfprj │ │ └── Quadrotor │ │ └── _self │ │ └── sfun │ │ ├── info │ │ ├── binfo.mat │ │ ├── chart1_ZfxxQE31IEuUdTwkikIDi.mat │ │ ├── chart2_9mJDJgrA6frDphDvY5VxDD.mat │ │ └── chart3_01Yt7r9mvv6kgKbp23oyGC.mat │ │ └── src │ │ ├── Quadrotor_sfun.bat │ │ ├── Quadrotor_sfun.c │ │ ├── Quadrotor_sfun.exp │ │ ├── Quadrotor_sfun.h │ │ ├── Quadrotor_sfun.lib │ │ ├── Quadrotor_sfun.mak │ │ ├── Quadrotor_sfun.map │ │ ├── Quadrotor_sfun.mexw64.manifest │ │ ├── Quadrotor_sfun.mol │ │ ├── Quadrotor_sfun.obj │ │ ├── Quadrotor_sfun_debug_macros.h │ │ ├── Quadrotor_sfun_registry.c │ │ ├── Quadrotor_sfun_registry.obj │ │ ├── c1_Quadrotor.c │ │ ├── c1_Quadrotor.h │ │ ├── c1_Quadrotor.obj │ │ ├── c2_Quadrotor.c │ │ ├── c2_Quadrotor.h │ │ ├── c2_Quadrotor.obj │ │ ├── c3_Quadrotor.c │ │ ├── c3_Quadrotor.h │ │ ├── c3_Quadrotor.obj │ │ ├── mexopts.bat │ │ ├── rtwtypes.h │ │ └── rtwtypeschksum.mat │ ├── theta1.jpg │ ├── x.jpg │ ├── x1.jpg │ ├── x2.jpg │ ├── y.jpg │ ├── y1.jpg │ ├── y2.jpg │ └── z2.jpg ├── Integrated Simulation Platform for Indoor Quadrotor Applications.pdf ├── LICENSE ├── README.md └── doc ├── quadrotor1.png └── quadrotor2.png /3D/Airmodel.m: 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