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@ -1,6 +1,6 @@
@@ -1,6 +1,6 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved. |
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* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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@ -37,12 +37,13 @@
@@ -37,12 +37,13 @@
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* |
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* Publication documenting this type of Quaternion Attitude Control: |
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* Nonlinear Quadrocopter Attitude Control (2013) |
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* by Dario Brescianini, Markus Hehn and Raffaello D’Andrea |
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* by Dario Brescianini, Markus Hehn and Raffaello D'Andrea |
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* Institute for Dynamic Systems and Control (IDSC), ETH Zurich |
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* |
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* @author Lorenz Meier <lorenz@px4.io> |
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* @author Anton Babushkin <anton.babushkin@me.com> |
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* @author Sander Smeets <sander@droneslab.com> |
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* @author Matthias Grob <maetugr@gmail.com> |
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* |
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* The controller has two loops: P loop for angular error and PD loop for angular rate error. |
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* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. |
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