Actuator Control and Mixer Definition

[Shd]

PX4 controller, How to translate delta commands to Forces and Torques?

Hi, I’m trying to Simulate the experiments I have done with the current px4 controller. However, I don’t understand some parts of the controller. Considering the px4 controller architecture, [image] and considering this video on Youtube, [Control Allocation: reworking the PX4 mixing system — PX4 Developer Summit Virtual 2020] [image] and based on the ETH attitued controller paper, Nonlinear Quadrocopter Attitude Control - Research Collection [image] My first question is, is …

I asked my question in detail in here, could you please help it can be seen by replying?