PX4: dynamic control need for a drone

[Shd]

Hi Jonathan, I really appreciate it if you could answer my question.

PX4 controller, How to translate delta commands to Forces and Torques?

Hi, I’m trying to Simulate the experiments I have done with the current px4 controller. However, I don’t understand some parts of the controller. Considering the px4 controller architecture, [image] and considering this video on Youtube, [Control Allocation: reworking the PX4 mixing system — PX4 Developer Summit Virtual 2020] [image] and based on the ETH attitued controller paper, Nonlinear Quadrocopter Attitude Control - Research Collection [image] My first question is, is …