‫Welcome back here.
‫I very quickly want to show you the results of the drones, your motion, when we use this older approach
‫where we kept all our reference, your values equal during one outer loop, and then the new approach
‫in which we created a vector that contained our current BPCI are, our previous BPCI are, and then
‫also three values in between.
‫So in total, five elements.
‫This is the result.
‫When you use the older approach, you see the your motion is not very smooth.
‫It starts rotating about the body from the axis and then it stops and then it turns again.
‫And then again it stops.
‫However, when we use this new approach, then you can see that now this your motion is much more smooth.
‫You see, the drone is continuously rotating about the body from the axis.
‫It's not rotating a little bit and then kind of stopping and then rotating again.
‫The rotation is now much smoother.
‫And that is achieved because the your reference values are changing all the time.
‫And therefore, the tracking of these your reference values happens in a much more continuous way.
‫In the older case, it was like this where the drone would rotate a little bit about the body from the
‫axis.
‫Then you see here it would stop in terms of its your angle, then the your angle would increase a little
‫bit again, then this increase would stop and then it would increase again and then it would stop.
‫But in the new case, the drones rotation about the body from Z axis practically never stops.
‫If you zoom in, then of course you can see that it's not perfect, like nothing is in control engineering
‫and in life in general.
‫But still, the tracking performance is much better than in the old case.
‫So that's what I wanted to demonstrate to you in this video.
‫Thank you very much.