Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control

Table 5

Gains from HIL testing.

Axis
	0.15	0.1	0.01
	0.15	0.1	0.01
	0.15	0.1	0.01
Z-axis/altitude	0.75	1.5	0.1