Learn the theory of ArduPilot

I would like to learn the theory behind the software. I have searched the website and can find no references to such a discussion. Is there any where on the website that goes into the basics and theory of the software and the math etc behind it? Thanks, Jon

Hello there! Here’s how I got into it: https://ardupilot.org/dev/docs/learning-the-ardupilot-codebase.html

Study the scource code on github, it helps too. Best of luck! It’s quite complex, but once you understand it, quite fun!

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Also check the Ardupilot youtube channel