In this paper, a closed-loop development process for flight controllers of fully actuated multicopters based on Simulink and
ROS is presented. The development process, which is based on the V-model according to the standard VDI/VDE 2206,
enables fast, efficient and detailed modeling and simulation by using MATLAB/Simulink as the simulation environment.
In addition to this, an automated export of the simulation model to ROS/C++ code and following compilation generates
a high-performance code. This has, compared to Simulink, very low performance requirements on the target hardware
and avoids a time-consuming and error-prone manual transfer to C++. ROS offers broad hardware support and can be
easily integrated into existing software structures thanks to its node structure and standardized communication interfaces.
The presented development process is exemplarily applied to the development of an observer for interaction forces and
validated in a real flight experiment.