Hi,
I have a few questions about the position control.
My goal is implement a new position control (Sliding mode control) instead of PID (P in position and PID velocity and acceleration)
May be that not better than PID but i just try for my internship 
question.pdf (57.6 KB)
Here i draw a diagram of Position control . And the red line is my question
Also the value of struct vehicle_local_position_setpoint_s
like
- float x;*
- float y;*
- float z;*
- float yaw;*
- float yawspeed;*
- float vx;*
- float vy;*
- float vz;*
- float acceleration[3];*
- float jerk[3];*
- float thrust[3];*
That provide by Qground control when we generate the trajectory (out put Flight tasks) ??? Of simply a set point of position
The other set point we can use specifique with offboad mode or MAVSDK ?
To conclude : If i want to change the hold new Position control (Postion, velocity and acceleartion) what matter the control i use . I need the output is Thurt in z direction and the attitude in quatenion form ??
Thanks all