9_Arduploit.md

Kiss Ardupilot

Arduploit is a great choice for people tired of PX4. Of course, be a nice guy, I should cite someone telling the differences

2 Learn code of ArduCopter

Ardupilot is mainly built on C++ and Class are used widely there.

Source Learning the ArduPilot Codebase. ArduCopter Flight Controllers

---
title: control diagram for mode stablize
---
classDiagram
    Copter -- Mode
    ModeStabilize --|> Mode

    ModeStabilize -- AC_AttitudeControl
    AC_AttitudeControl_Multi --|> AC_AttitudeControl
    class Copter{
        - void fast_loop()
        + motors_output()
    }

    class Mode{
        - void update_flight_mode()
        + void get_pilot_desired_lean_angles()
        + float get_pilot_desired_yaw_rate()
    }
    
    class ModeStabilize{
        - run()
    }

    class AC_AttitudeControl{
        - void input_euler_angle_roll_pitch_euler_rate_yaw()
        + void attitude_controller_run_quat()
        - void control_monitor_update()
    }

    class AC_AttitudeControl_Multi{
        + void rate_controller_run()
        + void update_throttle_gain_boost()
        + void update_throttle_rpy_mix()
    }

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Explanation of methods

• AC_AttitudeControl_Multi
  • rate_controller_run(), AC_AttitudeControl_Multi.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
  • update_throttle_rpy_mix(), AC_AttitudeControl_Multi.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
  • void update_throttle_gain_boost()
• AC_AttitudeControl
  • attitude_controller_run_quat, AC_AttitudeControl.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
  • input_euler_angle_roll_pitch_euler_rate_yaw, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
• AC_AttitudeControl_Multi
  • rate_controller_run(), https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
  • set_throttle_out, AC_AttitudeControl_Multi, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
• ModeStabilize
  • run()
• Motor
  • motor output https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/ArduCopter/motors.cpp
  • control_monitor_update(), ControlMonitor.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/ControlMonitor.cpp.

2.1 Position control

Source:

• Copter Position Control and Navigation

2.3 Attitude control

• Copter Attitude Control

3 Guided mode and Guided_NoGPS mode

Guided Mode allows us to control Ardupilot from an onboard computer autonoumously. This is usually essentially needed in research on drones.

Ardupilot provides us with two guided modes:

• Guided mode that requires a GPS and enables to send one of post, vel and acc comands and some combinations of them.
• Guided_NoGPS mode that can take angle or body rate commands.

Source

• ArduCopter Flight Controllers