Taking certain helicopter as example, the controller structure of linear-quadratic(LQ) optimal control and PID is designed to solve the sideslips of coordinated turns.

以某型直升机为例，针对协调转弯侧滑过大问题，设计了最优控制与经典PID相结合的控制律结构。

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If your test scenarios require a more complex mock controller implementation, the structure described here will provide a good starting point.

如果您的测试场景需要更复杂的模拟控制器实现，则此处描述的结构将提供一个好的起点。

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If you need to change the path that executes a given controller, you need to reconfigure your code structure.

如果我们需要修改执行给定控制器的路径，就需要对代码结构重新进行配置。

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