In order to control each motor directly, I have read the webpages that you recommand and thank for that.
Now my idea is I receive the pose information from mocap in my conputor and I compute the required force and torques to track a trajectory. Then, I can mapping the force and torques into angular velocity for each motor. Then I just need to send those commands to /actuator_control.
I still have two questions in terms of mixer for quadrotors.
(1) I need to write a new simple mixer using tag M instead of R?
(2) I find the quad+x.main.mix to understand how the mixer maps the roll, pitch, yaw and thrust into the actuator commands. But there is only one line
R: 4+ 10000 10000 10000 0
I can not understand how this is transformed to the actuator_control.
Could you give me some help? Thanks