The control library is part of LADAC and contains functions and Simulink blocks related to flight control. The purpose of each content is very different. In the future, as the library grows, this will probably be restructured.
- Angles
Contains functions to compute angle errors. - Autopilots
Contains autopilots for specific vehicle types. - Control allocation
This project contains control allocation algorithms. - Filters
This project contains filters and also is the basis for other implementations that use specialized filters (e.g. reference models in the NDI project. - INDI
INDI should contain models related to incremental nonlinear dynamic inversion. However, the only content is currently control allocation for INDI. This will probably be restructured in the future. - Joystick
The joystick project contains a Simulink joystick model that works on both Windows and Linux. There are calibration files for different controllers. If no suitable calibration file is available, there is a calibration function to add new joysticks. - Linear systems
Linear systems contains function related to linear system like different state-space models and transfer function. However, this is not restricted to control and will probably be restructured in the future. - NDI
NDI is about control design with Nonlinear Dynamic Inversion (NDI). It contains function to compute feedback gains for NDI systems. Moreover, it contains a kinematic inversion for all types of multicopters. - Trajectory
Trajectory is about autonomous flight along given waypoints. It contains function to compute smooth trajectorys from waypoints. Functions for determining the closest point of the trajectory to the current aircraft position. And to determine the reference variables for attitude and acceleration as a function of the current airspeed in order to be able to follow the trajectory exactly. - Waypoint navigation Waypoint is about automatic flight along given waypoints using computationally efficient line and circle segment.