How is the cross-coupling between Rudder and Roll being controlled in the ArduPilot since there are no ailerons? I'm doing some autopilot research for my Parkzone Radian, similar to the EasyStar in that there are no ailerons. Basically, a simple PID loop for heading by actuating the rudder won't work since you will impose roll and sideslip. What is the ArduPilots method for heading and roll control?Thanks!-Todd
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