Simulation of quadcopter flight modes in virtual environment systems

This paper considers the problem for simulation quadcopter motion control in virtual environment systems. The proposed solution of this problem includes the implementation of various flight modes for virtual quadcopter model. The quadcopter simulation of motion control is realized by calculation the corresponding Euler angles and feedback linearization of the equations for quadcopter and its electric drives dynamics. An approach for calculating Euler angles based on the transformation of quadcopter's local coordinate system is proposed. The developed methods and approaches were implemented and tested in the virtual environment system created at the SRISA RAS, as an example of quadcopter motion control with using the virtual remote controller.