wshgl / degradedcontrol Goto Github PK

The code will be further updated on https://github.com/RflyBUAA/DegradedControl.git

If you have any questions, please contact me by email at [email protected] or [email protected] or [email protected]

Step: run in order

1. Model/H250ModelParam4S.m
2. Control/H250_LOEUnknown_400HzParam.m
3. MIL/Unknown_V1/H250_LOEUnknown_400HzV2.slx

If you want to run the controller in Pixhawk

1. Pixhawk 4 (used in my experiment; v1.11.3; controller 400Hz; LPE 400Hz or higher, EKF2 is not stable subject to rotor failure)
2. RflySim is used for CodeGen
3. HIL/Unknown_V1/H250_LOEUnknown_400HzHILV2.slx is the main file used for CodeGen

• Control/FTC_UnknownV2.slx is the core controller used in the paper "Uniform Passive Fault-Tolerant Control of a Quadcopter with One, Two, or Three Rotor Failure."

• Control/FTC.slx is the core controller used in the paper "Uniform Fault-Tolerant Control of a Quadcopter with rotor failure"