Expand description
Flight control laws ranging from PID loops to LQR and Sliding Mode Control.
§Control Systems
This module implements the “Action” phase of the GNC (Guidance, Navigation, and Control) loop. It consumes the navigation solution and outputs motor-level actuation commands.
§Architecture
- PID: The fundamental control algorithm for error correction.
- Axis: Encapsulates a single degree of freedom (Perception + Control).
- Stabilizer: Orchestrates multiple axes into a coherent flight state.
- Mixer: Maps abstract demands (Roll, Pitch, Yaw) to physical motor signals.
Modules§
- axis
- Axis Processing
- failsafe
- Failsafe System
- mixer
- Motor Mixing
- pid
- PID Control Logic
- stabilizer
- Flight Stabilization Orchestrator
Structs§
- Attitude
Controller - A container for the three primary rotational control axes.
- Axis
Processor - A generic controller for a single physical axis.
- Failsafe
Monitor - PidConfig
- Configuration parameters for a PID controller.
- PidController
- A stateful PID controller.
- Quad
Motor Signals - A collection of normalized pulse-width modulation (PWM) signals for a quadcopter’s Electronic Speed Controllers (ESCs).
- QuadX
Mixer - A stateless utility for calculating motor power distribution.
- Stabilizer
- The top-level interface for the flight control system.
Enums§
- Arming
State - Defines the operational safety state of the vehicle.
- Failsafe
Level
Traits§
- Mixer
- Common interface for different airframe geometries.