Model-based Development Process of Flight Controllers for Fully Actuated Multicopters by Code Export from Simulink to ROS

Research output: Contribution to book/conference proceedings/anthology/reportConference contributionContributed


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.


Original languageEnglish
Title of host publicationFachtagung VDI MECHATRONIK 2022
Number of pages6
Publication statusPublished - 23 Mar 2022

External IDs

ORCID /0000-0003-1288-3587/work/159170261
ORCID /0000-0003-3695-0879/work/159171539