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Roll and pitch controller

Posted by UserAuto on August 22, 2014 at 1:30am

Hi,

I have some basic background in C++. I would like to look into the control code of Arduplane for pixhawk. In the below page,

http://plane.ardupilot.com/wiki/roll-pitch-controller-tuning/

We can see the block diagram for control flow. There is the roll, pitch and yaw controllers, and also how the K_P, K_I etc are calculated.

My question is, where are all these located in the arduplane code? The closest I got to is here,

https://github.com/diydrones/ardupilot/tree/master/libraries/APM_Control

However, I am still unable to locate the control logic.

Can any kind soul help to point me in the correct direction?

Thanks.

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Replies

  • Zachary Birnbaum September 8, 2014 at 11:17am

    I am attempting to do something similar for ArduPlane in matlab/simulink.  Were you able to make any progress getting the control flow into matlab/simulink?

  • 100KM
    Hein du Plessis August 22, 2014 at 1:58am

    I understand the control code is in something called the hardware extraction layer, and not on the "surface" code for APM, Pixhawk, or linux. All I know sorry :)

    • UserAuto > Hein du Plessis August 23, 2014 at 8:38pm

      Thanks for the reply. Hence you mean that the link that i showed about is not being used by Pixhawk? I am a little confused over all the APM, pixhawk changes.

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