# Position trajectory to MC position control **URL:** \ **Category:** PX4 Autopilot\ **Created:** [August 1, 2018, 10:14am UTC](https://discuss.px4.io/t/position-trajectory-to-mc-position-control/7376 "2018-08-01T10:14:23Z")\ **Posts on this page:** 1\ **Showing post:** 11
**Author:** ![chmi0611](https://discuss.px4.io/letter_avatar_proxy/v4/letter/c/c68b51/32.png) [@chmi0611](https://discuss.px4.io/u/chmi0611)\ **Post date:** [August 8, 2018, 5:47am UTC](https://discuss.px4.io/t/position-trajectory-to-mc-position-control/7376/11 "2018-08-08T05:47:25Z")
@tuloski @Jaeyoung-Lim Hi, guys. Thanks for comments. Currently, I’m trying to modify mc\_att\_control\_main.cpp and mc\_pos\_control\_main.cpp. > [@Trajectory Following via acceleration setpoints, which controller to use?](http://discuss.px4.io/t/trajectory-following-via-acceleration-setpoints-which-controller-to-use/7106): > > Hi, I’m developing a visual-inertial localization and navigation method and using rotors simulator and its integrated position controller, together with mav\_trajectory\_generation ROS package, which allows to build smooth trajectories. In order to follow the trajectory I use rotors position controller, which allows me to set a position/velocity/acceleration setpoint, which then outputs a resulting output acceleration vector to be sent to the vehicle. I’m now attempting experiments using PX4 dron… > [@How are pwm values set after controllers outputs are calculated for quadrotors?](http://discuss.px4.io/t/how-are-pwm-values-set-after-controllers-outputs-are-calculated-for-quadrotors/3308/3): > > Where do we see the transition from \_actuators to outputs? I read those pages but still not sure about thrust and torque. As Jaeyoung said, it would be okay to normalize thrust but the problem is torque. Can you tell me the relationship between \_att\_control and torque? Or is it okay to use normalized torque as \_att\_control? --- _[View the full topic](https://discuss.px4.io/t/position-trajectory-to-mc-position-control/7376)._