In the Control Systems division the team is responsible for the creation of a six degree of freedom controller that will stabilize the vehicle in any direction. The team is considering to design PID or LQR controllers for this task. The implementation of the controllers is done by using two very important packages created by our division: 

​

- pyrunner: allows the user to create a block-based python        script that generates a runner script capable of sequentially    generating a block diagrams output. 

 

- controller_pkg: used to stablish the ROS communications        needed to use the AUV's measurements in the controllers,        change the controllers and their respective actuators, and        publish the control signals.