ardupilot开发 --- Custom Attitude Controller 篇

假如你想用ADRC代替默认的PID控制器请看此篇文章

开发文档上的 Custom Attitude Controller

• Custom controller library
• Original-primary-mains：
• custom-secondary ：

simulink生成代码并集成到ardupilot中

• https://ardupilot.org/dev/docs/copter-adding-custom-controller.html#preparing-your-simulink-model-for-code-generation
• https://ardupilot.org/dev/docs/copter-adding-custom-controller.html#integration-generated-code-into-ardupilot
• https://ardupilot.org/dev/docs/copter-adding-custom-controller.html