包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角，是路径规划的实用方法，包含位置式PID算法、积分分离式PID。- It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, Is a practical method of path planning, It contains positional PID algorithm, integral separate PID.