System modeling and simulation of hexacopter

This project focuses on modeling and simulation of a hexacopter. The hexacopter is a Unmanned Aerial Vehicle (UAV) that consists of six rotors. Three of the rotors are spinning in one direction while the other three are spinning in the opposite direction, which are placed in between that every adjacent rotor spins opposite. The six rotors are placed on the vertices of a virtual regular hexagon. The motion of the hexacopter is controlled by the angular velocities of the rotor blades. The dynamic equations of the mathematical model are derived to control the altitude, roll, pitch, and yaw of the hexacopter. These equations are then implemented in MATLAB Simulink. The body-fixed frame is attached at the centroid of the hexacopter in order to calculate the placement of the rotors. The movement and attitude of the hexacopter is calculated by comparing the inertial earth frame with the body-fixed frame.