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docs/en/flight_stack/controller_diagrams.md
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@@ -162,7 +162,9 @@ Elevator control on the other hand is energy conservative, and is thus used for
$$\dot{B} = \gamma - \frac{\dot{V_T}}{g}$$
## Fixed-Wing Attitude Controller
### Setpoint modificaiton
Most fixed-wing aircraft cannot generate a sustained yaw rate using the rudder alone. As a result, the yaw component of the quaternion attitude error should be removed before computing the control action.
This is achieved by premultiplying the setpoint quaternion with a rotation about the global down axis. The additional rotation cancels the yaw component of the attitude error while preserving the roll and pitch components.
@@ -219,7 +221,7 @@ In order to keep a constant rate, this damping can be compensated using feedforw
### Turn coordination
The yaw rate setpoint is generated using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping.
The yaw rate setpoint is generated using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping.
$$r_{sp} = \frac{2g}{V_T}\left(q_0 q_1 + q_2 q_3\right)$$