In the MATLAB/Simulink Quadcopter project with the Parrot Mambo miniquadcopter model, the "motor command" is not a standard physical term like velocity or thrust but is used as an abstraction for the control input to the quadcopter's motors. It represents the control signals sent to each of the quadcopter's motors to control its behavior, typically ranging from 0 to 1.
The reason why the "thrust command" needs to be transformed into "motor command" before being used to control motor velocity is because it provides an intermediate step in the control process. The flight controller calculates the motor commands based on the desired thrust and other factors like desired orientation, stability, and control inputs. These motor commands are then used to adjust the motor speeds to achieve the desired thrust and attitude.
This transformation is necessary because the quadcopter's control system is more complex than a simple linear relationship between thrust and motor velocity. It takes into account various factors like the quadcopter's orientation, the motor dynamics, and the flight controller's control algorithms. The "motor command" values are used to ensure that the quadcopter can achieve stable and controlled flight based on the desired thrust and attitude.
