Code C wrting from simulimk file in matlab

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I have designed a nolinear controller for drone using simulink in matlab. the controller works fine in simulation. now I want to implement this nonlinear controller experimentally to get drone (quadrotor) flying. this need to write c code from simulink (not generate c code from simulink directly, this will not be clean code and not good enough) then upload this code to board's microcontroller. more details will be discussed later.

C++ Programming

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