# Control multicopter via thrust F and moments M

**URL:** <https://discuss.px4.io/t/control-multicopter-via-thrust-f-and-moments-m/9145>\
**Category:** PX4 Autopilot\
**Created:** [January 9, 2019, 12:43am UTC](https://discuss.px4.io/t/control-multicopter-via-thrust-f-and-moments-m/9145 "2019-01-09T00:43:28Z")\
**Posts on this page:** 1\
**Showing post:** 5

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**Author:** ![Quadrotor-Developer](https://discuss.px4.io/user_avatar/discuss.px4.io/quadrotor-developer/32/2793_2.png) [@Quadrotor-Developer](https://discuss.px4.io/u/Quadrotor-Developer)\
**Post date:** [January 10, 2019, 5:43pm UTC](https://discuss.px4.io/t/control-multicopter-via-thrust-f-and-moments-m/9145/5 "2019-01-10T17:43:14Z")

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Not yet.  
But I think the way to go would be either by creating an entirely new multicopter-controller based on `mc_att_control` or writing a simple app depending on where you calculate your control inputs.  
Both then need to be combined with a passthrough mixer (e.g. `/etc/mixers/IO_pass.main.mix`).  
If you have done any work yet, please let me know, maybe we can combine forces if our research topics match!

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