Multirotor

Generic multirotor

Since R2023a

Description

Multirotor is one of the rotorcraft that you can use within the 3D simulation environment. This topic describes two provided sample multirotor rotorcraft, Quadcopter and Mini Quadcopter. This environment is rendered using the Unreal Engine^® from Epic Games^®. This topic provides detailed views for two multirotors, a quadcopter and a mini quadcopter. For more information, see Views.

To add this type of vehicle to the 3D simulation environment:

1. Add a Simulation 3D Rotorcraft block to your Simulink^® model.

2. In the Block Parameters dialog box, on the Parameters tab, set the Type parameter to Multirotor.

3. Set the Initial translation (m) and Initial rotation (rad) parameters to an array size that matches Multirotor rotorcraft, for example, zeros(11, 3).

Data for Multirotor Placement for Quadcopter

The Quadcopter sample mesh origin is at ground level. To correctly place the rotorcraft, consider using these values.

Airport Scene Placement

To place the Quadcopter mesh in the Airport scene resting on the pavement or other hard surface, which is at a Z of 1 centimeter, use the following body translation and rotation values.

Body Motion Ports and Parameters	Value
Translation port and Initial translation parameter	[0, 0, 0] + [0, 0, -0.01]
Rotation port and Initial rotation parameter	[0, 0, 0]

Altitude Sensor

For the altitude sensor in the Simulation 3D Rotorcraft block, use these values.

Parameter	Value
Body Z offset (m)	0.0934
Ground contact location 1 (m)	[0.1833, 0.1833, 0.0934]
Ground contact location 2 (m)	[-0.1833, 0.1833, 0.0934]
Ground contact location 3 (m)	[-0.1833, -0.1833, 0.0934]
Ground contact location 4 (m)	[0.1833, -0.1833, 0.0934]

Size

These are the unscaled sizes of the generic quadcopter mesh.

Parameter	Value
Length (m)	0.400
Width (m)	0.400
Height (m)	0.164
Rotor Diameter (m)	0.264

Data for Multirotor Placement for Mini Quadcopter

The Mini Quadcopter sample mesh origin is at ground level. To correctly place the rotorcraft, consider using these values.

Airport Scene Placement

To place the Mini Quadcopter mesh in the Airport scene resting on the pavement or other hard surface, which is at a Z of 1 centimeter, use the following body translation and rotation values.

Body Motion Ports and Parameters	Value
Translation port and Initial translation parameter	[0, 0, 0] + [0, 0, -0.01]
Rotation port and Initial rotation parameter	[0, 0, 0]

Altitude Sensor

For the altitude sensor in the Simulation 3D Rotorcraft block, use these values.

Parameter	Value
Body Z offset (m)	0.0889
Ground contact location 1 (m)	[0.042, 0.042, 0.0889]
Ground contact location 2 (m)	[-0.042, 0.042, 0.0889]
Ground contact location 3 (m)	[-0.042, -0.042, 0.0889]
Ground contact location 4 (m)	[0.042, -0.042, 0.0889]

Size

These are the unscaled sizes of the generic mini quadcopter mesh.

Parameter	Value
Length (m)	0.177
Width (m)	0.177
Height (m)	0.106
Main Rotor Diameter (m)	0.066

Views

Quadcopter

Top-down view — Quadcopter top-down view

diagram

Side view — Quadcopter side view

diagram

Front view — Quadcopter front view

diagram

Back view — Quadcopter back view

diagram

Mini Quadcopter

Top-down view — Quadcopter top-down view

diagram

Side view — Mini quadcopter side view

diagram

Front view — Mini quadcopter front view

diagram

Back view — Mini quadcopter back view

diagram

Lights and Skeleton

Lights

Light	Bone
Landing light	LandingLight
Nose light	NoseLight
Red navigation light	RedNavLight
Green navigation light	GreenNavLight
White navigation light	PositionLight
Strobe light	StrobeLight
Beacon light	BeaconLight

Skeleton

• Multirotor

  • Rotor1

  • Rotor2

  • Rotor3

  • Rotor4

  • Rotor5

  • Rotor6

  • Rotor7

  • Rotor8

  • Sensor1

  • Sensor2

  • NoseLight

  • LandingLight

  • RedNavLight

  • GreenNavLight

  • BeaconLight

  • StrobeLight

  • PositionLight

Version History

Introduced in R2023a