: Directly connects MATLAB to ArduPilot via UDP, enabling Software-In-The-Loop (SITL) testing where MATLAB handles the physics or high-level control.

: Adjust controller parameters in real-time while the model runs on the autopilot.

: You can build custom position and attitude controllers in Simulink to replace or augment standard ArduCopter logic. Simulation Modes :

: Validate algorithms on a host computer before hardware deployment.

: Uses Embedded Coder to automatically convert Simulink models into C++ code that can be built as part of the ArduCopter firmware. Key Features and Capabilities