From e95e09628484875cf65686561eef8434195df96b Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Wed, 28 Jan 2015 09:31:42 +0100 Subject: added references --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 ++++++ 1 file changed, 6 insertions(+) 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). -- cgit v1.2.3 From 97471bf0aae5c069fe37f063f2a8b5eae08755c9 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Wed, 28 Jan 2015 09:31:42 +0100 Subject: added references --- src/modules/mc_att_control/mc_att_control_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index a094ed2c6..c828f1f94 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -35,6 +35,10 @@ * @file mc_att_control_main.cpp * Multicopter attitude controller. * + * Publication for the desired attitude tracking: + * Daniel Mellinger and Vijay Kumar. Minimum Snap Trajectory Generation and Control for Quadrotors. + * Int. Conf. on Robotics and Automation, Shanghai, China, May 2011. + * * @author Tobias Naegeli * @author Lorenz Meier * @author Anton Babushkin -- cgit v1.2.3