Good afternoon everyone,
I intend to build a VTOL aircraft from scratch as a “knowledge developing project” and so, I wanted to fully understand the code implemented for such a vehicle in ardupilot, mainly the controllers used.
I have gone through all the documention of “Learning the code” ( Learning the ArduPilot Codebase — Dev documentation) and it seems it isn’t very complete (at least, relating to a multi-modal aircraft there is none information). Besides, I have gone through the documentation from PX4 for the controllers (which seems a bit more complete: Controller Diagrams | PX4 User Guide). Besides, i have searched on the forum for similar question, but unfortunately, couldn’t find any (if there is some related post, could you link it?).
I hope someone can reply this few (maybe basic) questions:
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First of all, the PX4 controllers described in the documentation of PX4 are, basically, the same as implemented in arducopter/ardupilot, correct? So, a cascaded controller in the case of multicopter and L1 and TECS in case of an airplane, correct?
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The VTOL flight controller works the same way as in PX4? Controller active depends on the mode?
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This one is the biggest question I have, the VTOL is implemented in Ardupilot as two different modes (one for multicopter and one for airplane)? Or three modes (multicopter, switch and airplane)?
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(assuming there is an airplane mode) Last question, airplane mode uses the same code (controllers) as in arduplane?
I haven’t looked at the code yet, but I think that just the answer to question 3 would make my life much easier in terms of what I need to look for.
Thanks
Edit: (had post this initially in arducopter) VTOL vehicles are implemented in arduplane, correct? Can they be used as a normal multirotor?