Controller Module

The simulator is packaged with a geometric tracking controller for a quadrotor, found in quadrotor_control.py. Based on this paper the controller takes flat outputs (position and yaw) and outputs a dictionary containing different control abstractions (angle, rate, motor speeds). The Multirotor vehicle will use the commanded motor speeds in the dynamics.

Other controllers can be developed but must complement the vehicle and the trajectory it is trying to stabilize to.