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position-controller-trajectory-planner

separate

Use this skill when implementing the outer control loop for a quadrotor — position PID control (position/velocity error → thrust and desired acceleration) and trajectory planning from flight-plan waypoints (takeoff, hover, fly, land segments → smooth 15-row state matrix).

When to use

• position PID control
• trajectory planning from flight-plan waypoints
• generating 15-row state matrix
• cubic spline interpolation for segments
• computing thrust and desired acceleration
• saving planned trajectory and metrics

When not to use

• inner control loop
• attitude control
• sensor fusion
• motor saturation handling

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