Math model PX4 is built on


I am trying to find information about mathematical model and control algorithms used in PX4 autopilot, but i couldn’t find any articles or books in the internet. I need it for my master dissertation.

Of course, one way is to watch code on github, but it is too difficult for me to reproduce math model and approaches the autopilot is built on.

Could you please give me links or literature which has that information?


At the begigging of this cpp file:

Publication for the desired attitude tracking:
Daniel Mellinger and Vijay Kumar. Minimum Snap Trajectory Generation and Control for Quadrotors.
Int. Conf. on Robotics and Automation, Shanghai, China, May 2011.

You can find this publication here.

I don’t know if it will help you but there is also here some explanation about attitude controller code.