Geometric tracking controller tuning help

I am using the geometric tracking controller as shown here

When i run the sample launch file it takes off and immediately flips over. I think it might need some tuning. Could someone help me out regarding this. Couldnt find any information on tuning

The firmware version i am using is 1.8.2 and its compiled using the following posix_sitl_default gazebo
Is there any specific information that you need to help


@vivekrk44 That should not be the case. What launch file are you using?

Hi @vivekrk44 , I have discovered a regression with the master of mavors and made a fix with this PR

Hope this helps

I checked it out. It works now. Thanks for the fix.

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