The controller architecture diagrams

ArduPlane Plane 4.5
1

Greetings,
I want to design a ArduPlane SIL with Simulink for Fixed-Wing UAV, however I can’t find the controller architecture diagrams like the PX4 one on the forum, I used to use those cpp code and tried to figure out but just got confused. Moreover I heard the controller architectures are very similar with the PX4 one. Does anyone know where can fine the controller architecture diagrams of ArduPlane?
thank you a lot!!!

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(this is the example of PX4 controller)
Best wishes,
Cheng-Huan

2

IIRC there are diagrams for attitude and rates loops but I don’t think there are ones for navigation (TECS and L1). I don’t think L1 can be easily expressed in this form and TECS has protections that likely would depart from such block model.

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3

Deer Lupus TheCanine,
Thank you for the answer! It’s really helpful that I can try to build the simulation environments now!
Hope you have a good day!
Best wish!

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