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compute_control

rust_robotics_control::drone_3d_trajectory

Function compute_control 

Source 
pub fn compute_control(
    state: &QuadrotorState,
    desired: &DesiredState,
    params: &QuadrotorParams,
    gains: &ControllerGains,
) -> ControlOutput
Expand description

Compute the PD control output for the quadrotor.

This follows the same controller structure as the Python reference:

  • Thrust compensates gravity and tracks desired z with PD.
  • Roll/pitch torques are proportional corrections derived from desired lateral accelerations.
  • Yaw torque is proportional to yaw error.