A way to test new control laws for VTOL // Write a control Module

Hello everyone,

i’m actually working on new control law for VTOLs. All the Papers and Matlab are finished and now i need to do real flight test.

So, I’m searching a way to wright a new control module that can replace the ATT et POS control module.
The current modules are quite complicated so i was thinking creating a new module that runs in parallel and publish on other actuators channels.
Do you think it a good strategy to start with ?

Is this example is a good starting point ? : Firmware/src/examples/fixedwing_control/
is it up to date ?

Thank you for sharing your ideas,
Kind regards

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