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‫Welcome back.

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‫Let's now look at our controller on a global scale.

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‫So you have a plant model box here and we're going to treated as a black box now, meaning that we don't

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‫care what's inside there.

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‫We only see the control inputs coming in and the state's going out.

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‫Now, if you think of this, that box as our general controller.

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‫Then inside it, we have two sub controllers, one of them follows the NPC approach and the other one.

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‫The feedback calendarization approach.

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‫And then finally, we have something called the planner in this planner box, this is where you generate

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‫your trajectories and we have six of them in our code.

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‫We have this spiral here, and so the task of the drone is to follow this spiral trajectory, then we

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‫have this tornado like spiral.

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‫The only difference here is that here the radius of the circle on the x Y plane is increasing.

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‫Then we have a straight line.

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‫So this is probably the easiest trajectory to follow.

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‫Then this is a combination of a spiral and then a straight line.

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‫Then this is a combination of a spiral and then a parabolic line up.

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‫So you can see how the Z value here starts going up like that in a parabolic way.

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‫And finally, you have a mix of a spiral and then this sinusoidal shape as well.

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‫And so these have been our six trajectories, and to generate these trajectories, we need to have their

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‫X, Y and Z coordinates as a function of time.

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‫So perhaps something like this, you have time here and then you have your reference X value, X are

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‫then reference Y value and reference Z value.

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‫And then you start from time equals zero seconds, and then you go with some kind of interval into the

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‫future.

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‫And then for each time value, you have some kind of reference, X value reference, Y value and reference

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‫Z value.

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‫And these arrays will, of course, be sent to the controller and more precisely to the feedback in

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‫a recession controller.

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‫And so the reference values for X X are there for Y, Y, R, and for Z, the Z.

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‫Are these values will move from the planner box to the feedback notarization box.