The problem of position tracking of a mini drone subjected to wind perturbations is investigated. Using the real-time on-board wind estimation and adapting properly the control gains, the quadrotor can follow a reference trajectory ensuring an optimal control effort on the rotors and a good robustness against the wind perturbations. In this way, control gains are modified in real-time according to the requested trajectory and to the requested disturbance compensation. The analysis process is explained using a toolbox, implementing the control and wind estimation algorithms and the fully configurable quadrotor model. Final simulations conclude the note, enlightening the importance of including wind estimates in the control algorithm
