Mathematical model of a mini-helicopter robot ("Colibrí")

Mathematical model of a mini-helicopter robot using Simulink blocks, which allows the automatic code generation without using c-code S-functions.

There is a complete toolbox that includes more subsystems and more features: detailed help in every block, governor model, actuator dynamics, analysis and design tools, PID control (with bumpless tranfer and anti-windup), trajectory planning tool, Kalman filter estimation, rapid software prototyping possibilities (QNX OS, SIL, HIL), virtual reality animation, other.

The project is being developed by Universidad EAFIT, Medellín, Colombia.

All comments and corrections are welcome.