Additionally, the equations in the code for attitude controller do not comply with equations mentioned in the cited paper :
Mellinger, Daniel, and Vijay Kumar. "Minimum snap trajectory generation and control for quadrotors." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.
Please correct me if I am wrong. How is the P loop implemented ? As per my understsanding,
rates-sp = params.att-p * (attitude_sp - attitude)
In the code rates are calculated as,
rates-sp = params.att-p * e_R
I understand Euler angles are not used for the implementation of the controller. But then how is the P controller implemented ? How is e_R computed ? Please can someone help me regarding this.
Thank you ! I appreciate it !