I am using an APM 2.6 board and have just recently started exploring the ArduPlane code. My primary area of interest is on the navigation and control algorithms used as I intend to modify and implement my own, but I am having a lot of difficulty in differentiating between the parts of the code that are used by the APM and those used by Pixhawk. For instance, I know that the Pixhawk uses Kalman filtering for attitude estimation as compared to complimentary filtering on APM 2.x. Can anyone give me a comprehensive insight into the differences in the algorithms used by Pixhawk and APM 2.x for navigation and control? Or links that discuss this in detail would also be very useful.
Thanks in advance for any help on this!
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