Controls

Controls dictate the actuation of the robot: they close the loop between the planned trajectory and the robot's actual state, and publish control commands to the topics defined by the Robot Interface.

AirStack splits control into two nodes:

• Trajectory Controller (trajectory_controller) — a pure-pursuit trajectory manager that advances a tracking point and look-ahead point along the current trajectory (it is not itself a feedback controller)
• PID Controller (pid_controller) — a cascaded position/velocity PID that drives the drone toward the tracking point and publishes roll/pitch/yaw-rate/thrust commands to the interface

Both are perpetual nodes and run onboard only — control never crosses a machine boundary (see the Interface Conventions Specification).