Implementation of a flight controller, A* planner, and trajectory generator for quadrotor
- Casecade Control Structure: Outer-loop Position Control and Inner loop attitude control.
- Efficient A* planner using a self coded Priority Queue API
- Minimum Snap trajectory generator to generate smooth optimal trajectory for the quadrotors to track
Trajectory generation with waypoints pruning.
Tested on the Crazyflie micro-drone platform
