diff options
| author | Roman Bapst <romanbapst@yahoo.de> | 2015-01-28 09:31:42 +0100 |
|---|---|---|
| committer | Roman Bapst <romanbapst@yahoo.de> | 2015-01-28 09:31:42 +0100 |
| commit | e95e09628484875cf65686561eef8434195df96b (patch) | |
| tree | 555df99148f0e4fd183271c93bdf975f07d85208 | |
| parent | 52f3fe1d9af53e5f1dd40714aa177fcc4c5e0047 (diff) | |
| download | px4-firmware-e95e09628484875cf65686561eef8434195df96b.tar.gz px4-firmware-e95e09628484875cf65686561eef8434195df96b.tar.bz2 px4-firmware-e95e09628484875cf65686561eef8434195df96b.zip | |
added references
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 962dc6d4a..cad6cf3ae 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -35,6 +35,12 @@ * @file mc_pos_control_main.cpp * 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. * 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). |