Aggressive trajectory tracking controller for MAVROS using geometric control in SE(3)

Jaeyoung Lim

As PX4 doesn’t support aggressive trajectory tracking capabilities just yet, a trajectory tracking controller is needed to run aggressive flights. MAVROS enables you to control a drone offboard, supporting low level commands such as actuator control / bodyrate control. This gives you the safety of having a fail-safe flight controller and the flexibility of having a simulation supported ROS based controller.

For the source code, visit:

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