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Roman Bapst
2015-01-28 09:31:42 +01:00
parent 52f3fe1d9a
commit e95e096284
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src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -35,6 +35,12 @@
* @file mc_pos_control_main.cpp * @file mc_pos_control_main.cpp
* Multicopter position controller. * Multicopter position controller.
* *
* Original publication for the desired attitude generation:
* Daniel Mellinger and Vijay Kumar. Minimum Snap Trajectory Generation and Control for Quadrotors.
* Int. Conf. on Robotics and Automation, Shanghai, China, May 2011
*
* Also inspired by https://pixhawk.org/firmware/apps/fw_pos_control_l1
*
* The controller has two loops: P loop for position error and PID loop for velocity error. * The controller has two loops: P loop for position error and PID loop for velocity error.
* Output of velocity controller is thrust vector that splitted to thrust direction * Output of velocity controller is thrust vector that splitted to thrust direction
* (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself). * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).