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Controller documentation #16
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Began course loop documentation and added ROSplane as a subdirectory.
Noted major at a glance details of the inner loop.
Filled in high level details about the outer loop for course and noted some TODOs.
Added overview of the yaw damper and the rationale.
Diagrams are not finished, and the summaries likely need some work still.
One question I have is whether I should add a diagram for the inner loop and outer loop for each of the controllers. It would make things more clear, but perhaps all I have to do is highlight an example loop when briefly discussing successive loop closure as a whole. |
This page will explain all the basic philosiphy of the controller. It will help any contributor to understand how and why decisions were made. It will also help a contributor make a decision on where to make their changes.
Looks good!
I think you could also just draw a box behind the inner loop on each of the diagrams, and label the box "Inner Loop". That might be more clear and take up less space than making inner and outer loop diagrams for everything. Thoughts? |
I have finished all of the controller documentation. It looks like other documentation has been put onto this branch as well, I will leave it to you @JMoore5353 to decide when to merge this/make this a full PR rather than a draft. |
@JMoore5353 Could we rename the directory "Path Planning" to something like "Navigation"? Path planning referencing both a specific module and the entire path part of the autopilot I think could be confusing. |
Sorry about that. I should have made a new branch. I wasn't thinking about that! |
Here is all of the documentation for the website on the controller. It will include in the end all of the relevant information on each of the control loops, a guide on tuning the controller and short summary guide to editing and modifying the controller.