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Add a nonlinear trajectory tracking controller.

To test, follow these steps:
1. compile the firmware with ESTIMATOR set to "kalman" and CONTROLLER set to "mellinger".
2. roslaunch crazyflie_demo external_position_vicon.launch uri:=radio://0/100/2M/E7E7E7E728
3. In "crazyflie_ros/crazyflie_demo/scripts": python figure8withTakeoffAndLanding.csv

The controller can also be used with manual flight
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whoenig committed Jan 19, 2018
1 parent 0ce5b7a commit 2a87f5ac84242ac9956d2828a30928bea327d079
Showing with 958 additions and 0 deletions.
  1. +624 −0 src/modules/interface/math3d.h
  2. +334 −0 src/modules/src/controller_mellinger.c

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