I have been studying the Arducopter_alpha code to get a handle on its structure and see if I can contribute.
I noticed some lines of code in the DCM file which make reference to equations, for example, equation 21?
renorm= .5 *(3 - Vector_Dot_Product(&temporary[0][0],&temporary[0][0])); //eq.21
Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm);
It then occurred to me that I suppose there is some underlying aeronautical flight theory behind the operation of the quadcopter, a governing structure to the code and a roadmap for code development.
Are there any public references the theory, structure or raodmap, or is protected IP of DIYdrones?
Regards,
Tom
You need to be a member of diydrones to add comments!
Replies