First of all sorry for the confusing question title. I am also confused about the concept.
I have implemented a quadcopter and its controller. Controller finds the rotor speeds based on the position and yaw angle references.
The thing that I don't understand is, let's say I want the vehicle to climb 5m up and then 5m left. At this point, I think I need to create a vector containing the reference values. By the way, the model is discretized by some deltaT time interval so the reference vector. This does not coincide and well behave according to the dynamics of the vehicle. Let's say, the reference input for altitude is 5m until 5sec and 0 for [5,10]sec. But it is not guaranteed that the vehicle will reach to 5m altitude in 5sec. Thus, my intention is, that reference vector shouldn't rely on the time. Therefore, my perception is to use some if condition to check if the vehicle is reached for the first waypoint and then, register the next one.
Which is a simple if-else statement? This makes me think what is the mathematical or analytical background in this. Is it just the following of the line between two waypoints by geometrical analysis like Line of Sight guidance law things.
Can you give me some insight about the concept which makes me confused?