This program generates payload trajectories leveraging differential-flatness of quadrotors. The users need to provide algebratic equations of quadrotor flat outputs (px,py,pz,psi). Then the trajectories including pos, vel, acc, omega, alpha are generated and stored in a csv file.
Matlab R2023b (tested version, others may work)
CasADi toolbox (https://web.casadi.org/get/)
Robotics systems toolbox, for the rotm2quat function. Other toolboxes such as UAV toolbox may also work.
- Define parameters in main.m
- Define algebraic equations of trajectories in main.m
- Run main.m