    % 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 = 0.47;         % 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)