Implement error correcting controller

[Peyje]

Currently, a calculated trajectory can only be followed with use of the PD controller. A new controller that is able to control every rotor by itself and corrects errors has to be implemented.

Proposed course of action:

• Get a first controller running that does not correct errors and controls Force/Torque
• Calculate the speeds of the rotors and control the trajectory with them
• Error correction

[kevin-thankyou-lin]

Does this PID controller look like something you were looking for?
https://github.com/utiasDSL/gym-pybullet-drones/blob/master/gym_pybullet_drones/control/DSLPIDControl.py

[Peyje]

Thank you for the tip, that really looks awesome! The dynamics are even based on the Crazyflie, the same drone I used to test the implementation on.

Due to a shifted focus in my work I probably won't get to it anymore, but for anyone that uses the Crazyflie and wants to use this codebase, that might be worth looking into.