Hello

I want to know when i use Qground control to set some waypoint :))

So the Trajectory set point for Position control are (x,y,z, vx,vy,vz ,acc) ???

Or when i use OFF board mode : I want drone follow this trajectory

pose.pose.position.x = r*sin(theta);
pose.pose.position.y = r*cos(theta);

pose.pose.position.z = 15;

So The Trajectory set point for Position control are (x_sp,y_sp ,z_sp, vx_sp,vy_sp,vz_sp ,acc_sp)? which vx_sp,vy_sp,vz_sp ,acc_sp is derive and double derive of x_sp,y_sp ,z_sp.

And other think

If i give a velocity set point so , the trajectory for Position control is V_sp and A_sp which A_sp is derive of V_sp .

But when i see the diagramme above , i so confuse !!!

// Respects FlightTask interface, where NAN-set-points are of no interest

// and do not require control. A valid position and velocity setpoint will

// be mapped to a desired position setpoint with a feed-forward term.

// States and setpoints which are integrals of the reference setpoint are set to 0.

// For instance: reference is velocity-setpoint → position and position-setpoint = 0

// reference is thrust-setpoint → position, velocity, position-/velocity-setpoint = 0

Thanks