I have PX4 2.8.4
I would like to replace the modules that make control for quadrotor (I would like to try LQR).
I understand that it should replace one of the modules mc_att_control or mc_rate_control (which one?). I need ekf2 and rc as inputs, and will have motor values as outputs.
But I don’t understand, in which format actuators are working and what is actuators?
For example in mc_rate_control I see:
actuators.control[actuator_controls_s::INDEX_ROLL] = PX4_ISFINITE(att_control(0)) ? att_control(0) : 0.0f;
Then, as I understand, this actuators.control[…] will go to the mixer.
I don’t understand, how the yaw, pitch, rol and throtle converted to the ESC motor values?
Can someone help me this this here?