Mulit-Quadrotor Control using Simulink and SimMechanics

This model combines the power of Simulink modelling and SimMechanics to develop a near-realistic and appealing visualization of multi-quadrotors that are controlled by simple PID loops. The quadrotor is designed in Solidworks with all the mass and inertial properties are defined there, then was exported to XML file to be read by SimMechanics. After some tuning of couple of nested PID loops, using a linearized model of the quadrotor and PID tuning tools in MATLAB, the quadrotor was able to follow some real-time trajectories smoothly. This, then, was lumped in one block, so it can represent an independently controlled quadrotor, with reference inputs (X/Y/Altitude global positions and Yaw) that to be followed, and some outputs for further analysis. This block can be copied as many times, as the Machine computation capabilities may allow, to do mutli-agent control of independent quadrotors. I hope this helps in some sense!
Here is a quick video of What this looks like.
https://www.youtube.com/watch?v=0bS-ic3Ox5k
Feel free to contact me.
Note: make sure you read the requirements.