I know how to calculate the attitude stability controller, which relate rotor speed and desired angles. However, I have no clear at all how to implement the translational controller transfer function, whose output is the desired angle that the rotors must achieve considering the position I want to translate.
Considering that two controllers are PD, how can you calculate the translational controller transfer function and include it in the system? Time domain equations in the outer loop are next, where U terms relate to the thrust axis components. Thanks