Hello,

I've been going through the ardupilot code to try and have a better understanding of how a multicopter works.   Along with this info I think I have a basic idea of how an auto pilot works.  This is my understanding at this moment:

3690982246?profile=original

Am I close with my understanding of how a multicopter with stabilization or an autopilot works?

Is there anywhere that describes a "big picture" view of how decisions are made about using only input from the radio, when to make adjustments based on sensors and when a combination of the two is used?

Thanks so much!

Loren 

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  • 3D Robotics

    That's not quite it. What you're missing is the "inner loop", which is the AHRS/motor controller element that creates a feedback loop between calculated attitude (via the sensor fusion algorithms  in our case the DCM) and motor commands. This is like your own inner ear, which calculates where "down" is and sends commands to your muscles (via your brain) to keep you upright.  The RC controls operate at a higher level than that. 

    Do a bit of Googling and this will start to become clear. 

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