Hello.
I am trying to understand ardupilot position and attitude control for a quadcopter by reading code.
1. I was trying to understand attitude control description from the code but I don't understand the difference between target attitude and desired attitude. Can some one explain the difference please. Below is the description:
| // The attitude controller works around the concept of the desired attitude, target attitude | |
| // and measured attitude. The desired attitude is the attitude input into the attitude controller | |
| // that expresses where the higher level code would like the aircraft to move to. The target attitude is moved | |
| // to the desired attitude with jerk, acceleration, and velocity limits. The target angular velocities are fed | |
| // directly into the rate controllers. The angular error between the measured attitude and the target attitude is | |
| // fed into the angle controller and the output of the angle controller summed at the input of the rate controllers. | |
| // By feeding the target angular velocity directly into the rate controllers the measured and target attitudes | |
// remain very close together. 2. Also they always mention feedforwarding velocity, angular velocity. Does anyone know what that means? Thanks a lot. |
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