Hello @bresch, @JulianOes
I gone through the mc_position and mc_attitude control source code for the px4 release 1.10 (stable).
As per the picture in the documentation it says that there is only a “proportional gain” block between positon control that generates ‘velocity_setpoints’ and velocity controller whose input is velocity_setpoints. The picture is
But, when i was going through the mc_position control source code i could see the following part
The part highlighted shows that there is a feedback from vel_sp that gets added to the generated vel_sp_position and makes vel_sp. this confuses me if there is only proportional gain block there why is this feedback there which is like some sort of integrator. Please throw some light on what is the actual controller structure followed here.