PD control matlab coding

I am given program to do 2 things

1) stabilise the quadcopter at a height of 0

2) give the quadrotor a step input of 1 meter

well, I get stuck even for the first task

I think I should use the formula

if true
g=9.81
m=0.81 %the mass of quadcopter
K_p=1
K_v=10
e=z_des-z
u = m * [diff(diff(z_des))+K_p*e+K_v*diff(e)+g]

The following is the cap screen of the code. I have problem on how to assign the z (current height) and z_des (desired height) from the vector s and s_des so that I could use that to calculate the e (error) = z_des-z

Answer 1

[Ragupathi S]

I am also doing the same course. I am also facing your issue. But I found simple thing for hover control that is stabilizing quad at height 0. Simply multiply mass(m) and acceleration due to gravity(g) and put that as input of Thrust (u)

[kushal doshi]

hey i am doing the same course and i am stuck how to stabilize at height 0 can you mail me the code you uses to achive it.

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