Intelligent and Secure Autopilot Project

Directory Structure
===================
+- EKF_IFS_2_ert_rtw			Simulink generated H-infinity controller with required blocks            + glue code 
+- ANN_EKF_NMPC_2_ert_rtw	 	Simulink generated NMPC controller with ANN and other required blocks    + glue code
+- NMPC_Controller_ert_rtw_optimized	Simulink generated NMPC controller without ANN and other required blocks + glue code
+- quadrotor_FCS_0_ert_rtw_		Simulink generated quadcopter controller 			         + glue code
+- Arduino				Arduino code for H-infinity, NMPC and ANN_EKF_NMPC
+- pwm_generator_dutycycle		Arduino code for generating pwm signals