...
Two main approaches to hexacopter control: CCA (Classical Control Allocation) & WCA (Weighted Control Allocation).
Control allocation deals with mapping the virtual control vector = [T L M N] T consisting of Thrust Roll Pitch & Yaw to individual motor speeds.
Most proposed implementations at this point use PID’s ?
https://onlinelibrary-wiley-com.proxy.lib.uwaterloo.ca/doi/epdf/10.1002/acs.2955
n-rotor drones are “nonlinear-underactuated systems”
Online or offline learning?
Have a drone that can dynamically learn (single node model?
Moltirotor basics
To Do
Global vs Local Reference Frame
How to make controls layout agnostic (doesn’t matter whether drone is hex, quad, octa, etc.)
Choose whether RC inputs control rate of change in axis or the angle
Controlling angle means that the drone will re-stabilize when sticks are released (stabilize mode) - better but harder to implement
Controlling rate means that the drone will not re-stabilizie after sticks are released - undesirable but easier to implement
...