Mathematical Model used in UAV toolbox

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I want to obtain the mathematical model of the drone used by the UAV toolbox. This will help me develop some controllers based on the knowledge of the mathematical model of the drone. I was unable to find it in the UAV toolbox documentation .
Thanks in advance.

Accepted Answer

Jianxin Sun
Jianxin Sun on 3 Jun 2021
Math behind UAV Guidance Models:
Nishanth Rao
Nishanth Rao on 21 Jul 2021
It seems to me that the equations on the UAV guidance model page hasn't been changed to the right equations.
Also, the rotation matrix described in the page converts vector from inertial frame to body frame (this is also justified from the kinematic equations), but the sentence just above the rotation matrix says the opposite.
This is really frustrating, as these small mistakes can lead to a huge output error while implementing for a non-linear system. I hope these mistakes will be corrected.

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