Use tiltrotor UAV toolbox example for quadplane?

Hey, so I am using MATLAB R2023b for a uav simulation. I found UAV Toolbox, and I have been tinkering with it for a bit. The example model they have is a tiltrotor, but I am using a quadplane (4 motors for hover, 1 motor for forward flight). I was wondering if there's a way to change this model so it can be used for quadplane?

Any help would be welcome.

Thanks.

Answer 1

[Jianxin Sun]

https://www.mathworks.com/help/uav/ug/customize-vtol-configuration.html walks through the tiltrotor model structure. You can update the propulsion model to include one additional motor for forward flight. You will also need to make some updates to the autopilot Hover controller, Tilt-Transition controller and Control mixer so that the vehicle can fly properly without rotor-tilt. A similar controller structure used in quadcopter should be sufficient here. One example for quadcopter can be found in https://www.mathworks.com/help/uav/ug/uav-package-delivery.html.