Position Control Paper


I was looking at the Multicopter position control file and I was wondering if there is a scientific paper it is based on. It would help a lot to understand the code, e.g. the definitions of the local position and the global position.

If there is one, does anybody know where I can find it?


If there are references it’s usually in the header. https://github.com/PX4/Firmware/blob/master/src/modules/mc_pos_control/mc_pos_control_main.cpp#L39

The messages are defined here - https://github.com/PX4/Firmware/tree/master/msg (vehicle_local_position, vehicle_global_position) and have a few comments. Beyond that you’ll need to grep the code to understand more.

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Ah! I must have overseen this, thanks for the quick answer, I will definitely look into the paper mentioned and the messages, thanks a lot!