PX4 Autopilot PID Controller Paper/Manual?

I’m wondering if there is a manual or archival paper detailing the autopilot and navigation implementation? Even a controller block diagram will help.

If not, the autopilot (for fixed wing) is implemented in


am I right?

If you read the headers in those files you will find the reference to the paper.

Hi Lorenz,

I only found the reference for trajectory tracking in ecl_l1_pos_controller.h

However, I didn’t find any reference regarding the “inner loop” autopilot (ecl_pitch, ecl_roll, ecl_yaw etc). The only mention i found was Automatic Control of Aircraft and Missiles by John H. Blakelock, pg. 175.

Is the autopilot based on the design stated in this book?