The Mellinger controller already supports ang_vel inputs, but this can't be used at the moment. To fix this, add dynamically allocated control data (either attitude or rate setpoint) and clean up control data. Also, add a second attitude_rate2force_torque() controller implementation of the Mellinger.
The Mellinger controller already supports ang_vel inputs, but this can't be used at the moment. To fix this, add dynamically allocated control data (either attitude or rate setpoint) and clean up control data. Also, add a second attitude_rate2force_torque() controller implementation of the Mellinger.