Hello,
I'm analysing the ArduPlane code(2.6) in order to design a Simulink model of the Ardu-Pilot flight controller.
Now I have a question about the navigate() function in navigation.pde. After calculating the target_bearing_cd the nav_bearing_cd should be calculated to include cross-track correction. But I can't find a call-up of the cross-trackfunction in AUTO mode.
Can anyone help me?
| // target_bearing is where we should be heading |
| // -------------------------------------------- |
| target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP); |
| // nav_bearing will includes xtrac correction |
| // ------------------------------------------ |
| nav_bearing_cd = target_bearing_cd; |
Replies
Konstantin,
I am attempting to create a simulink/matlab model of the APM controller, were you successful in getting a simulink model in your work?
Hello, yes I was successful! It was a part of my bachelor's thesis. However it's two years ago so it's an old version of ArduPlane now.