A General Purpose Configurable Navigation Controller for Multirotor Unmanned Aerial Vehicles. The code is available in the repository: https://github.com/Vision4UAV/cvg_quadrotor_swarm
More specifically:
- https://github.com/Vision4UAV/cvg_quadrotor_swarm/tree/master/cvgDroneControlStack
- https://github.com/Vision4UAV/cvg_quadrotor_swarm/tree/master/cvgDroneControlStack/droneSpeedPositionMidLevelController
- https://github.com/Vision4UAV/cvg_quadrotor_swarm/tree/master/cvgDroneControlStack/droneTrajectoryController
- https://github.com/Vision4UAV/cvg_quadrotor_swarm/tree/master/cvgDroneControlStack/droneTrajectoryStateMachine
- https://github.com/Vision4UAV/cvg_quadrotor_swarm/tree/master/cvgDroneControlStack/droneTrajectoryControllerROSModule