Quadcopter hardware characterization and simulation

A quadcopter simulator comprising:

• a flight controller configured to perform Proportional Integral Derivative (PID) control of quadcopter motors to generate flight controller output signals corresponding to four simulated quadcopter motors of a simulated quadcopter;
• a virtual powertrain coupled to receive the flight controller output signals, the virtual powertrain configured to generate thrust and torque values for the four simulated quadcopter motors from the flight controller output signals using a plurality of lookup tables with entries indicating quadcopter component characteristics;
• an aerodynamic module coupled to receive the thrust and torque values from the virtual powertrain, the aerodynamic module configured to combine the thrust and torque values for the four simulated quadcopter motors and apply additional factors to obtain velocity, angular velocity, and position of the simulated quadcopter, and to provide simulated sensor data according to the velocity, angular velocity, and position to the flight controller;
• and
• a camera simulator coupled to receive the velocity, angular velocity, and position of the simulated quadcopter from the aerodynamic module and to generate a plurality of simulated camera views of simulated cameras of the simulated quadcopter based on the velocity, angular velocity, and position.

A quadcopter simulator comprising:

• a flight controller configured to receive commands relating to quadcopter flight, perform Proportional Integral Derivative (PID) control of quadcopter motors to generate four Electronic Speed Control (ESC) signals corresponding to four simulated quadcopter motors of a simulated quadcopter;
• a virtual powertrain coupled to receive the four ESC signals, the virtual powertrain configured to generate thrust and torque values for the four simulated quadcopter motors from the four ESC signals using a plurality of lookup tables with entries indicating quadcopter component characteristics, the lookup tables including:
• a current lookup table with entries indicating current for different command inputs, a power lookup table with entries indicating power for different currents, a torque lookup table with entries indicating torque generated for different powers, an RPM lookup table with entries indicating RPMs generated for different powers, a delay lookup table with entries indicating delay in changed RPM, a thrust lookup table with entries indicating thrust for different RPM values, and a propeller lookup table with entries indicating propeller efficiency at different RPM values;
• an aerodynamic module coupled to receive the thrust and torque values from the virtual powertrain, the aerodynamic module configured to combine the thrust and torque values for the four simulated quadcopter motors and apply additional factors including ground effect from proximity of ground below, gravity, lift and drag from movement through air, to obtain velocity, angular velocity, and position of the simulated quadcopter, and to provide simulated sensor data according to the velocity, angular velocity, and position to the flight controller;
• and
• a camera simulator coupled to receive the velocity, angular velocity, and position of the simulated quadcopter from the aerodynamic module and to generate a plurality of simulated stereoscopic camera views of a simulated environment around the simulated quadcopter based on the velocity, angular velocity, and position.