Position trajectory to MC position control

Thanks for your answer.:slight_smile:

@robin-ecn To answer your question, if you are interested in controlling the torque the same way you do with the bodyrates, you can use the actuator control setpoints in offboard mode. This will not perform as well as running the app inside px4, but will be easier to implement for prototyping

@Jaeyoung-Lim

I have a question regarding this quote. The documentation says that velocity and acceleration in a SET_POSITION_TARGET_LOCAL_NED message are used as feedforward terms, which also appears like that in the control diagram. Thus, with the given message I should be able to perform quite dynamic (aggressive) trajectories?

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