modeling of quadrotor

matlab simulink四旋翼模型，输入为四个电机的电压值，输出为对应的姿态角以及姿态角速度和三个方向的线加速度-Four rotor model, the input voltage is four value of the motor, the output is the corresponding attitude angle and attitude angular velocity and direction of three linear acceleration

在simulink上仿真的，四旋翼无人机与移动物体交互的仿真程序(Simulation on the Simulink, four rotor UAV interaction with moving objects simulation program)

quadrotor simulink file