Uploaded developing version of model and updated model parameters file

controls/model/modelParameters.m

     % Model Parameters
-    m = 1.19;            % Quadrotor + battery mass
-    g = 9.81;            % Acceleration of gravity
-    Jxx = 0.0218;        % Quadrotor and battery motor of inertia around bx (pitch)
-    Jyy = 0.0277;        % Quadrotor and battery motor of inertia around by (roll)
-    Jzz = 0.0332;        % Quadrotor and battery motor of inertia around bz (yaw)
-    Jreq = 4.2012e-05;   % Rotor and motor moment of inertia around axis of rotation
-    Kt = 8.1558*10^-6;   % Rotor thrust constant
-    Kh = 0;              % Rotor in-plane drag constant
-    Kd = 1.8087e-07;     % Rotor drag constant
-    rhx = 0.016;         % X-axis distance from center of mass to a rotor hub
-    rhy = 0.016;         % Y-axis distance from center of mass to a rotor hub
-    rhz = 0.003;         % Z-axis distance from center of mass to a rotor hub
-    Rm = 0.2308;         % Motor resistance
-    Kq = 96.3422;        % Motor torque constant
-    Kv = 96.3422;        % Motor back emf constant
-    If = 0.511;          % Motor internal friction current
-    Pmin = 0.40;         % Minimum zybo output duty cycle command
-    Pmax = 0.80;         % Maximum zybo output duty cycle command
-    Tc = 0.01;           % Camera system sampling period
-    tau_c = 0;           % Camera system total latency
-    Vb = 11.1;           % Nominal battery voltage (V)
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+    m = 1.19;                       % Quadrotor + battery mass
+    g = 9.81;                       % Acceleration of gravity
+    Jxx = 0.0218;                   % Quadrotor and battery motor of inertia around bx (pitch)
+    Jyy = 0.0277;                   % Quadrotor and battery motor of inertia around by (roll)
+    Jzz = 0.0332;                   % Quadrotor and battery motor of inertia around bz (yaw)
+    Jreq = 4.2012e-05;              % Rotor and motor moment of inertia around axis of rotation
+    Kt = 8.1558*10^-6;              % Rotor thrust constant
+    Kh = 0;                         % Rotor in-plane drag constant
+    Kd = 1.8087e-07;                % Rotor drag constant
+    rhx = 0.016;                    % X-axis distance from center of mass to a rotor hub
+    rhy = 0.016;                    % Y-axis distance from center of mass to a rotor hub
+    rhz = 0.003;                    % Z-axis distance from center of mass to a rotor hub
+    Rm = 0.2308;                    % Motor resistance
+    Kq = 96.3422;                   % Motor torque constant
+    Kv = 96.3422;                   % Motor back emf constant
+    If = 0.511;                     % Motor internal friction current
+    Pmin = 0.40;                    % Minimum zybo output duty cycle command
+    Pmax = 0.80;                    % Maximum zybo output duty cycle command
+    Tc = 0.01;                      % Camera system sampling period
+    tau_c = 0;                      % Camera system total latency
+    Vb = 11.1;                      % Nominal battery voltage (V)
+    omega_o = 598.088;              % Equilibrium Rotor Speed
+    x_controlled_o = 0;             % Equilibrium lateral controller output
+    y_controlled_o = 0;             % Equilibrium longitudinal controller output
+    yaw_controlled_o = 0;           % Equilibrium yaw controller output
+    
+    % Equilibrium height controller output
+    height_controlled_o = (((Rm*If + ...
+    + (((omega_o * 2 * Rm * Kv * Kq  ...
+    * Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
+    *Kd))/Vb)*(Pmax- Pmin)+Pmin)*100;     
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