Simscape Ground Stop for Quadrotor

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Hello, I'm modeling a quadrotor on Simscape and I'm trying to build the ground stop so my drone wouldn't go beyond 0. I have seen some tutorials on this kind of problems but it didn't help. Have anyone ever worked on a smilar project.
Thank you.

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Rajat Tewari
Rajat Tewari 2020-7-21

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