Algorithm Development

Use Simulink blocks to connect to and configure peripherals attached to ArduPilot autopilots

Develop algorithms and prepare model for deploying on ArduPilot^® Autopilots.

Blocks

Controller Interface Blocks

Ang Velocity Setpoint	Reads angular velocity setpoint (Since R2025b)
ArduPlane Actuator Write	Set actuator values for motors and servos (Since R2025b)
Attitude Setpoint	Reads attitude setpoint (Since R2025b)
Current Ang Velocity	Reads current angular velocity (Since R2025b)
Current Attitude	Reads current attitude (Since R2025b)
Current Position	Reads current position (Since R2025b)
Current Velocity	Reads current velocity (Since R2025b)
Position Setpoint	Reads position setpoint (Since R2025b)
Velocity Setpoint	Reads velocity setpoint (Since R2025b)
Write Torque & Thrust	Writes normalized torque and thrust commands to the ArduPilot mixer (Since R2025b)

Peripheral Blocks

Reads radio control channel data (Since R2025b)

Utility Blocks

Reads absolute timestamp (Since R2025b)

Model Settings

Model Configuration Parameters

Topics

What is Sample Time and How Does it Work?
Concept of sample time and its role in simulations and control systems.
Manually Set COM Port for Uploading and Communication
Set COM port for Upload and Communication in Simulink^® models.
Setting Up Communication Between ArduPilot Hardware and Ground Control Station
Learn how to establish communication between ArduPilot hardware and a Ground Control Station.
Actuator Selection in Ground Control Station
Configure and verify actuator outputs using GCS.
Deployment, Connected I/O, and Monitor and Tune
Deploy models, tune parameters in real time, and monitor performance.

ArduPlane Setup and Configuration

ArduPlane SITL Setup Tutorial

Simulate and tune ArduPlane models using WSL and Ubuntu on your Windows system.

Actuator Selection in Ground Control Station

Configure and verify actuator outputs using GCS.

Featured Examples

Design Position and Attitude Controllers for ArduCopter

Design Position and Attitude Controllers for ArduCopter

Design position and attitude controllers for ArduCopter in Simulink.

Fly a Custom Multicopter Airframe Using Simulink

Fly a Custom Multicopter Airframe Using Simulink

Control a custom multicopter airframe by defining a custom mixer matrix .

Verify RC Transmitter Input with RC Receive Block

Verify RC Transmitter Input with RC Receive Block

Test your RC transmitter with the RC Receive block in Simulink.

Implementing Slower Execution Rates for Blocks in a Single-Rate Model

Implementing Slower Execution Rates for Blocks in a Single-Rate Model

Implement slower execution rates in a single-rate model.