The simulation model of unmanned rotorcraft with yaw and altitude controller

The main objective of this thesis was to design a model of a quadcopter in Simulink based on the forces and moments acting on the device and obtaining the resultant movements of the quadrotor. As well, it was also planned to implement controllers for both the altitude and the yaw angle of the quadcopter. This way, if desired altitude and yaw angle values are given to the system, the controllers will calculate the proper angular speed of the rotors to obtain and maintain such desired values.