Is the controller using adrc or pid? If the adrc controller is used, where is the corresponding code?

[czyv587]

I want to learn about the adrc controller. Is the adrc controller used in the code? Can you tell me where the controller code for adrc is? Thank you very much!

[JcZou]

The adrc code is not included yet, maybe included in the near future.

[JcZou]

Now the ADRC is merged into FMT, you can access it:

FMT-Firmware:
https://github.com/Firmament-Autopilot/FMT-Firmware/tree/master/src/model/control/adrc_controller

FMT-Model:
https://github.com/Firmament-Autopilot/FMT-Model/tree/master/model/Controller/ADRC-Controller