Apm control loops and Simulink

Hello all,

  I´m looking for a detailed explanation of the control loops of the APM, and I there are a simulink, scicolab...etc a model of the apm with the control loop.

  I looking for this, because I´m working in a vision based navigation system for the APM and I want to know how can I mix both control systems.

  Thanks

  Jesús

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