Math, data, and algorithms for our canard roll control setup.
We have a modular flight computer stack. There is an ethernet bridge between sensors and actuators. The FC in the middle is running a state estimator (kalman filter) and a nested PID loop as in the above diagram.
Gathering up the theory from past roll teams for a theoretical model of the aerodynamics on delta wings:
notebooks/accel-fin-alpha.ipynb
Tring to use Launch 11 as a wind tunnel test: