This folder contains the full MATLAB/Simulink implementation of the control system used in our Crazyflie indoor navigation project. The control system is responsible for receiving real-time Vicon data, processing it, and generating stable RPYT (Roll, Pitch, Yaw, Throttle) commands to achieve hover and point-to-point flight.

Folder Structure

  • 2PID/

Main Simulink control models for indoor flight with Crazyflie using a dual-loop PID architecture.

  • controller.slx

    The core Simulink model implementing:

    • Position PID (outer loop) and velocity PID (inner loop) control
    • Real-time RPYT command generation based on 6-DoF Vicon input

  • user_guide.md

    • Simulink model structure and module descriptions

    • UDP setup and input/output signal configuration

    • PID tuning procedure

  • data_analysis/

MATLAB scripts for evaluating and visualizing Crazyflie flight performance.

Includes:

* 2D and 3D trajectory visualization across multiple flights
* Dynamic response evaluation with `stepinfo` (rise time, overshoot, steady-state error)
* logging data into csv files
* Identifying system **transfer function** via step response

Core Control Logic

Position-Velocity Dual PID

  • Outer Loop: Position PID generates desired velocity
  • Inner Loop: Velocity PID outputs Roll, Pitch, and Throttle
  • Yaw Control: PID tracking of yaw angle (rot_z) with S-curve smoothing and activation delay

Requirements

  • MATLAB R2025a or later
  • Simulink