中文说明：
matlab simulink四旋翼模型，输入为四个电机的电压值，输出为对应的姿态角以及姿态角速度和三个方向的线加速度。
English Description：
Matlab Simulink four rotor model, the input is the voltage value of the four motors, the output is the corresponding attitude angle, attitude angular velocity and three directions of linear acceleration.