Where appropriate, specific code or blocks are highlighted in greater detail. The following sections outline the code necessary to implement a quadrotor simulator in MATLAB. An accurate simulation environment enables operators to design and test control designs, filters, observers, and path planning algorithms before they are implemented on the physical system in the real world. All of these pieces are necessary to create an accurate simulation environment. An accurate simulation combines the equations of motion derived in the System Modeling section, the specific parameter values estimated in the Model Verification section, and the controller designed in the Controller Design section. This page describes the details of developing a robust and accurate simulation environment. System Modeling ■ Model Verification ■ Controller Design ■ Simulation EnvironmentĪutopilot Implementation ■ System Set-up ■ Experiments