I have put together some fairly comprehensive tutorials and videos covering control system design, simulation, and implementation through 3d mapping, path planning, and navigation.
How to mathematically model your aircraft, design control systems, and write a custom flight controller
Developing basic control systems and waypoint navigation systems using
the Robot Operating System (ROS) and simulating FPV flight (I use this
for demos where I can’t fly but can let guests fly a simulated
quad using an Xbox controller on my computer)
Using a simulated Kinect sensor to create a 2D map of the environment,
then using that map for autonomous path planning and obstacle avoidance.
Same as above but creating a 3D map and developing 3D trajectories for the quadrotor while avoiding obstacles.
Here are the website tutorials which contain detailed text and images that accompany the videos detailed below. Sample code is also available and explained in detail on the website as well. Specifically, the “Simulation Environment” and “ROS Integration” sub-sections focus on simulation in depth.
Next step is to implement some of these mapping algorithms on a quadrotor and integrating ArduCopter into the simulation environment.
Hope others find this useful,