Is the controller conservative/simplified?

[XXLiu-HNU]

Question 1 (・∀・*)

Is the open source linear controller in the project a bit simplified? Through simulation and physical tests, it is found that when the drone speed is high (1m/s or above), collisions will occur, and the reproduction effect is not as aggressive and robust as shown in the video. I would like to ask what the controller used by your group during the experiment looks like?

Question 2 (・∀・*)

In addition, what is the difference between so3_control in the simulation and px4ctrl in the real thing? If the former is transplanted to the physical experiment, will the control effect be better?

Thank you for open-sourcing such an excellent project, looking forward to your reply(●'◡'●)