function?y?=?autopilot（uuC）
%
%?autopilot?for?quadrotor
%?
%?Modification?History:
%???1/21/08?-?RWB
%???1/31/08?-?RWB
%???2/5/08?-?RWB
%???2/6/08?-?GTR

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?get?states?and?commands
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
??[t?xhatcommands]?=?get_states_commands（uuC）;
??
?
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?implement?autopilot?modes

??%---------------------------------------------------------------
%?regulate?altitude?based?on?size?of?object?in?image
??u_z?=?sat（altitude_hold（xhat.pz-commands.pz?t?C）2-2）;
??F_thrust?=?C.m*（C.g?-?u_z）/cos（xhat.phi）/cos（xhat.theta）;

%?rotate?positions?and?commanded?positions?into?body?frame:

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-03-30?09:40??The?Quadrotor?model\
?????文件???????10634??2015-03-13?14:44??The?Quadrotor?model\autopilot.m
?????文件???????13614??2015-03-13?14:44??The?Quadrotor?model\kestrel.jpg
?????文件????????3954??2015-03-13?14:44??The?Quadrotor?model\param_gutted.m
?????文件???????14021??2015-03-13?14:44??The?Quadrotor?model\plotquadstatevariables.m
?????文件???????19851??2015-03-13?14:44??The?Quadrotor?model\quadrotor.jpg
?????文件????????7191??2015-03-13?14:44??The?Quadrotor?model\quadrotor_dynamics.m
?????文件???????47189??2015-03-16?10:42??The?Quadrotor?model\quadrotorsim.mdl
?????文件???????42391??2015-03-13?14:44??The?Quadrotor?model\quadrotorsim.mdl.r2008a
?????文件????????2380??2015-03-13?14:44??The?Quadrotor?model\tv.jpg