CONTROL ARCHITECTURE
Inside the black box. Exploring the PIDs, Navigators, and Mixer strategies that keep your vehicle in the air.
System Design
AC_AttitudeControl - The Angle Controller
The [Attitude](/field-manual/mavlink-interface/attitude.html) Controller is responsible for determining **how fast the vehicle should rotate** to a...
AC_AttitudeControl - The Rate Loops
The Rate Controller is the "Inner Loop" of the [flight stack](/field-manual/navigation-mission/navigation-architecture.html). It runs at the full l...
AC_PosControl - The XYZ Controller
The Position Controller (`AC_PosControl`) is the "Middle Manager" of the [flight stack](/field-manual/navigation-mission/navigation-architecture.ht...
AC_WPNav - The Navigator
The Waypoint Navigator (`AC_WPNav`) is responsible for generating the "Perfect Path" for the drone to fly. It does **not** fly the drone directly. ...
AP_Motors - The Matrix & Mixer
The Motor Mixer (`AP_MotorsMatrix`) is the bottom layer of the control stack. It takes the normalized Torque (Roll/Pitch/Yaw) and Thrust (Throttle)...
The Control Stack: From Stick to Prop
When you move the sticks on your [radio](/field-manual/mavlink-interface/radio.html), you aren't moving the servos directly. You are feeding a requ...