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Welcome to the rosplane wiki!

This wiki serves to document both the algorithms and implementation of this ROSplane fork. This repository contains three ROS packages:

• rosplane: The main package with primary flight control components
• rosplane_msgs: Message definitions used by ROSplane
• rosplane_sim: Support for simulating ROSplane in Gazebo using rosflight_sim

There are several main components in the autopilot, all contained in the rosplane package:

• Estimator: Combines sensor information to estimate current position, speed, etc. needed for all other nodes.
• Controller: Contains the PID loops that fly the plane to a specified airspeed, altitude, and ground course.
• Path Follower: Uses a vector field to keep the plane on a provided orbit or line path
• Path Manager: Take waypoints and generates paths between them. Provides these paths one at a time to the path follower.