# How does lmpc replace ardusub's horizontal controller?

**URL:** <https://discuss.bluerobotics.com/t/how-does-lmpc-replace-ardusubs-horizontal-controller/18580>\
**Category:** ArduSub\
**Created:** [November 15, 2024, 7:29am UTC](https://discuss.bluerobotics.com/t/how-does-lmpc-replace-ardusubs-horizontal-controller/18580 "2024-11-15T07:29:03Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![835056842](https://avatars.discourse-cdn.com/v4/letter/8/3bc359/32.png) [@835056842](https://discuss.bluerobotics.com/u/835056842)\
**Post date:** [November 15, 2024, 7:29am UTC](https://discuss.bluerobotics.com/t/how-does-lmpc-replace-ardusubs-horizontal-controller/18580/1 "2024-11-15T07:29:03Z")

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I have a level controller LMPC that can be used with ardusub, I have MATLAB code? However, my understanding of ardusub code is not enough. I want to embed this code into ardusub and hope to get your help.  
[资料汇总.zip](https://discuss.bluerobotics.com/uploads/short-url/6rreLJS8BGgEhxh5HDIb0Nwulm6.zip) (635.5 KB)