Roll and pitch controller

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,

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,

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

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

Thanks.

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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