Add support for fullStateSetpoint in PID controller #1100
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When using fullState CRTP package, the desired rotation is encoded as a quaternion. The Mellinger controller correctly computes the desired yaw in this case. In the PID controller, this is currently ignored. This change adds the same logic. Test case: Crazyswarm2 teleoperation.
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When using fullState CRTP package, the desired rotation is encoded as a
quaternion. The Mellinger controller correctly computes the desired yaw
in this case. In the PID controller, this is currently ignored. This
change adds the same logic.
Test case: Crazyswarm2 teleoperation.