Hi everyone, For my master’s project I need to create the Simulink model for the position and attitude controllers of the PX4 firmware, so I can perform some analyses on its performances in simulation. I see that they are very dependents of the flight mode but for the moment I am just looking for a…

Wow. Thank you so much. You did a nice investigation !

So, I have a question about the D. Why it is doing differential with theta_dot, but not the error between setpoint and estimate value ?

Yeah, I agree with you, and I changed it myself. But actually D block does a little affect.

@yun The D is taken directly on the angular rate (filtered gyro measurement) and not on the angular rate error in order to avoid the so called “derivative kick”. For example, imagine what is the output of the derivative term if the reference is a Heaviside step function… [image] PID Contro…

[image] Hi, I am trying to expand this controller diagram to include the sensors and their frequencies. Please see the diagram attached and kindly please let me know , how may I improve it more. Specially the LPE estimator, how can I dig into it more?

Very helpful diagram! Where did it come from, or did you make it? I’ve been looking for diagrams to help me understand the attitude control algorithm and haven’t really found anything detailed until now.

I think Kff is the feed forward gain: There is also MC_YAW_FF parameter that controls how much of user input need to feed forward to yaw rate controller. 0 means very slow control, controller will start to move yaw only when sees yaw position error, 1 means very responsive control, but with some o…

[image] With LPE and Q-estimator

Position and attitud controllers diagram

PX4 Autopilot

abdullahmohiuddin May 28, 2017, 10:21am 14

The final goal is to come up with a diagram like this one, but with LPE and Q-estimator.

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Position and attitud controllers diagram

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