# Autonomous quadcopter: How to transform setpoint into motor inputs?

I would like to know how to transform a setpoint to inputs for the motors of a quadcopter. I would like a function like that:

def goto(x, y, z):
# ...
# Magic happens here
# ...
return [thrust1, thrust2, thrust3, thrust4]


I can't seem to find good documentation on how to do that so my research keywords must be lacking something. If you could point me to some good resources I would be glad to see them.

• I believe the magic is often the thesis of some student or phd candidates...I’m not surprised you’re having an issue finding a solution....turning real world coordinations into an optimal control path and then controlling the thrust to get the drone to said point and then stay there is well...hard. However, if you look up ETH Zürich autonomous drones...im sure you might find a paper or two – morbo Aug 30 at 13:33
• I agree with morbo. Learning the magic within that loop usually involves earning an engineering master's degree. – holmeski Aug 30 at 13:51