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Controller documentation #16

Merged
merged 38 commits into from
Jun 18, 2024
Merged

Controller documentation #16

merged 38 commits into from
Jun 18, 2024

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iandareid
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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.

iandareid added 9 commits June 7, 2024 14:09
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.
@iandareid iandareid added documentation Improvements or additions to documentation enhancement New feature or request labels Jun 13, 2024
@iandareid iandareid self-assigned this Jun 13, 2024
@iandareid iandareid linked an issue Jun 13, 2024 that may be closed by this pull request
@iandareid
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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.

@JMoore5353
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JMoore5353 commented Jun 13, 2024

Looks good!

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.

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?

@iandareid
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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.

@iandareid
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@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.

@iandareid iandareid marked this pull request as ready for review June 18, 2024 18:27
@JMoore5353
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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.

Sorry about that. I should have made a new branch. I wasn't thinking about that!

@JMoore5353 JMoore5353 merged commit 744e7d8 into main Jun 18, 2024
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@JMoore5353 JMoore5353 deleted the controller_documentation branch June 18, 2024 18:42
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ROSplane documentation
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