Hello, I’m currently building a fully-actuated drone, and I’m curious about the omnicopter example and control allocation, so I’m posting this discussion. My question is, if I set CA_airframe 0 CA_method 0 and only set the tilting angle and position for each rotor in QGC, can I automatically control 6dof with 31 thrust and 31 torque decoupled x y movement and tilting roll, pitch while just sending setpoint position?
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