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Whirlybird Project - ECE 774/ME 734

A description of the whirlybird dynamics is given in


The project assignment is in Chapter 11.

Files produced by Everett Bryan:

Simulink files for the whirlybird:

These files implement a working Simulink example using a linear state feedback controller in autopilot.m. The code is a little more complex then it needs to be to allow the user to tune the rise time and damping coefficient for the roll, pitch, and yaw loops. The code contains examples of implementing both an integrator and a differentiator.

Labview files for the whirlybird:

Labview instructions:

  1. Unzip and place whirlybird8 directory on desktop
  2. Open WBRT Controller
  3. Insert Matlab code into WBRT Controller and save (don't hit “Save All”).
  4. Open Whirlybird LabVIEW Project file (about 1 minute)
  5. Under Larry, open WBRT (about 2 minutes)
  6. Click on “File→Save All”
  7. Click on Arrow to deploy code to FPGA (about 2 minutes)
  8. After deployment is complete, click on red stop sign to abort
  9. Click on Arrow to deploy the second time (about 10 seconds)
  10. When signal lines appear, have partner center the whirlybird and hit Zero Encoder button.
  11. Click on Start button to start controller
  12. To stop the controller click on Stop button.