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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 10:18:56 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 10:18:56 +0100 |
commit | 4dd06c4c7368e14ae0c5119321095236f7d13fd4 (patch) | |
tree | 60c287b1389653f386b741b64e5337e0ca02bc1f /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
parent | 52f3fe1d9af53e5f1dd40714aa177fcc4c5e0047 (diff) | |
parent | 97471bf0aae5c069fe37f063f2a8b5eae08755c9 (diff) | |
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Merge pull request #1716 from PX4/literature_reference
added references
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
-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). |