Hello @bresch , i would like to read research article published related to controller of the multicopter, especially version 1.10 (stable). Is there any such document, there please give some reference of that.

Multicopter Controller structure

bresch August 26, 2020, 3:55pm 6

Yes, vel_sp is the feedforward from the trajectory generator we discussed in Position velocity control structure px4 release 1.10 (stable)) - #4 by bresch

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