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‫Welcome back here.

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‫I very quickly want to show you the results of the drones, your motion, when we use this older approach

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‫where we kept all our reference, your values equal during one outer loop, and then the new approach

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‫in which we created a vector that contained our current BPCI are, our previous BPCI are, and then

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‫also three values in between.

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‫So in total, five elements.

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‫This is the result.

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‫When you use the older approach, you see the your motion is not very smooth.

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‫It starts rotating about the body from the axis and then it stops and then it turns again.

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‫And then again it stops.

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‫However, when we use this new approach, then you can see that now this your motion is much more smooth.

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‫You see, the drone is continuously rotating about the body from the axis.

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‫It's not rotating a little bit and then kind of stopping and then rotating again.

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‫The rotation is now much smoother.

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‫And that is achieved because the your reference values are changing all the time.

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‫And therefore, the tracking of these your reference values happens in a much more continuous way.

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‫In the older case, it was like this where the drone would rotate a little bit about the body from the

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‫axis.

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‫Then you see here it would stop in terms of its your angle, then the your angle would increase a little

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‫bit again, then this increase would stop and then it would increase again and then it would stop.

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‫But in the new case, the drones rotation about the body from Z axis practically never stops.

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‫If you zoom in, then of course you can see that it's not perfect, like nothing is in control engineering

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‫and in life in general.

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‫But still, the tracking performance is much better than in the old case.

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‫So that's what I wanted to demonstrate to you in this video.

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‫Thank you very much.