drone_controller

A controller-related package for drone

• You can launch multi-controller (control_linear_x.launch, control_linear_y.launch, control_linear_z.launch) within this single launch file:
• And there is a ros node called <fusion_controller.cpp> which will output 3-D twist to mavros.

roslaunch drone_controller fusion_control.launch

Params

• There are several params in the controller:
  • : Define control rate.
  • <P_param>: Define the value of P control.
  • <I_param>: Define the value of I control.
  • <D_param>: Define the value of D control.
  • < margin >: Define the margin where controller should be terminated.