New Control Algorithms

For my senior thesis project, I am going to be studying the control theory governing a fixed wing aircraft. I would like to implement my own control algorithms into the ArduPilot code.

I was wondering if someone could direct me to the portions of the code that I should be most concerned with.


pitch, roll and yaw low level control is done here: … PM_Control

Higher level path following is done here: … L1_Control

Speed and height control is done here: … es/AP_TECS

Good luck with your research,