By Gabriel Staples, www.ElectricRCAircraftGuy.com
-first hack at a quadcopter simulation (written in 2013), demonstrating lead-point/vector field approach (physics-based, but NOT yet implementing limits on vehicle roll or pitch rates [deg/sec] or accelerations [deg/sec^2]). Constraints: 4 m/sec desired speed, 20 deg max tilt angle (roll
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