Sorry if this has been answered before, but I could only find a topic about it without answers, so here’s my question:
I want to test a new control law to have tests for a paper. How is the best way to do this?
If I understand correctly, the modules mc_att_control and mc_pos_control are the modules that calculate the needed control outputs, while comparing the position/orientation of the drone with the desired setpoint and checking if any parameter has been changed.
Then, some module mixes both outputs and publish the final control vector to actuator_controls_0.
What is the best way to do the same thing for my new control law? Is it just easier to modify these modules and completely replace the original control law?
If I do this, what part of the code should I modify and what part of the code I should absolutely not touch?
Thanks!