Arducopter-matlab -
Integration between and MATLAB/Simulink allows developers to design, simulate, and deploy flight control algorithms using a model-based design workflow . This is primarily facilitated through the UAV Toolbox Support Package for ArduPilot Autopilots and ArduPilot’s native JSON SITL interface . Core Integration Methods
: Adjust controller parameters in real-time while the model runs on the autopilot. arducopter-matlab
: Blocks like "RC Receive" and "Write Torque & Thrust" allow models to interact with ArduPilot peripherals and motor mixers without manual coding. Getting Started MATLAB Simulation — Dev documentation arducopter-matlab

Re: Liftopia. Speaking to a lawyer about this, he said "Why wouldn't you accept Liftopia's offer? You get you money and a good platform to move forward."
We're with Geoff. Life is too short to do business with people you can't trust. Even if they are under such scrutiny that they could never steal from you again.
Geoff Hatheway for President! I'm designing some "F--- Liftopia" t-shirts right now.