ulogPX4QuadcopterAnimation

Matlab files that can be used to animate the flight trajectory of a quadcopter using a .ulog PX4 log file. Also include files to plot RCAC gains and autotuned parameters [1].

Files

• animate_Test.m : Animates quadcopter trajectory using PX4 log file (ulog format).
• animate_Test_Theta.m : Animates quadcopter trajectory using PX4 log file (ulog format). Also, shows evolution of RCAC theta parameters [1].
• animate_Test_Theta_Autotuned.m : Animates quadcopter trajectory using PX4 log file (ulog format). Also, shows autotuned RCAC theta parameters [1].

References

• Quadcopter animation files modified from https://github.com/gibiansky/experiments/tree/master/quadcopter/matlab
• 3D arrow program obtained from https://www.mathworks.com/matlabcentral/fileexchange/71994-arrow-3d

Citing work

• [1] Spencer, J., Lee, J., Paredes, J. A., Goel, A., & Bernstein, D. "An Adaptive PID Autotuner for Multicopters with Experimental Results," 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 2022, pp. 7846-7853, doi: 10.1109/ICRA46639.2022.9812065.