‫Welcome back.
‫Let's now look at our controller on a global scale.
‫So you have a plant model box here and we're going to treated as a black box now, meaning that we don't
‫care what's inside there.
‫We only see the control inputs coming in and the state's going out.
‫Now, if you think of this, that box as our general controller.
‫Then inside it, we have two sub controllers, one of them follows the NPC approach and the other one.
‫The feedback calendarization approach.
‫And then finally, we have something called the planner in this planner box, this is where you generate
‫your trajectories and we have six of them in our code.
‫We have this spiral here, and so the task of the drone is to follow this spiral trajectory, then we
‫have this tornado like spiral.
‫The only difference here is that here the radius of the circle on the x Y plane is increasing.
‫Then we have a straight line.
‫So this is probably the easiest trajectory to follow.
‫Then this is a combination of a spiral and then a straight line.
‫Then this is a combination of a spiral and then a parabolic line up.
‫So you can see how the Z value here starts going up like that in a parabolic way.
‫And finally, you have a mix of a spiral and then this sinusoidal shape as well.
‫And so these have been our six trajectories, and to generate these trajectories, we need to have their
‫X, Y and Z coordinates as a function of time.
‫So perhaps something like this, you have time here and then you have your reference X value, X are
‫then reference Y value and reference Z value.
‫And then you start from time equals zero seconds, and then you go with some kind of interval into the
‫future.
‫And then for each time value, you have some kind of reference, X value reference, Y value and reference
‫Z value.
‫And these arrays will, of course, be sent to the controller and more precisely to the feedback in
‫a recession controller.
‫And so the reference values for X X are there for Y, Y, R, and for Z, the Z.
‫Are these values will move from the planner box to the feedback notarization box.