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Gautier Hattenberger
37a86bb389
This PR allows to redefine the outer-loop for stabilization and guidance, and to specify the guidance model for something else than a quarotor (but still not an hybrid). Two use case are proposed: - replace the PD control of the outer-loop (still used by default) by and Hinfinity controller - parametrize the guidance for an hexa-copter with tilted motors, allowing to produce side force for lateral motion control.