NAVIGATION & MISSION
Deep dive into the mathematical and logical core of ArduPilot's autonomous capabilities. This section covers how the autopilot decides where to go, how it calculates the path, and how it safely executes missions.
Mission Logic
Navigation Architecture
Navigation in ArduPilot is not a monolithic block; it is a layered architecture separating **Mission Management** (high-level intent) from **Positi...
L1 Control Logic
The **L1 Controller** is ArduPilot's primary guidance algorithm for fixed-wing aircraft and rovers. Unlike a simple PID controller that reacts to c...
Spline Trajectories
For multirotors, stopping at every waypoint is inefficient and visually jarring. **Spline Navigation** allows the vehicle to fly a smooth, continuo...
Terrain Following
Terrain Following allows a vehicle to maintain a constant height above the ground rather than above the takeoff point (Home). This is critical for ...
Mission State Machine
The ArduPilot Mission State Machine is the "Brain" of Auto mode. It is responsible for sequencing events, ensuring that the drone finishes one task...