04 February 2021 3 5K Report

I am designing a flight controller for a quadrotor.

At first I am designing a nested/cascaded controller consisting of only proportional controllers Kp . Now, if i tune the rate controller for 10 rad/s cross-over frequency, what should be the cross-over frequency for the angle, velocity and then the position loops. Also, what else do i need to know while designing a flight controller for practical implementation purposes?

Secondly, How do we implement a own flight controller such as observer based via arducopter?

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