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position-controller-trajectory-planner

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Use this skill when implementing the outer control loop for a quadrotor — position PID control (position/velocity error → thrust and desired acceleration) and trajectory planning from flight-plan waypoints (takeoff, hover, fly, land segments → smooth 15-row state matrix).

tasks/drone-planning-control/environment/skills/position-controller-trajectory-planner/SKILL.md

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# Position Controller and Trajectory Planner

## Overview

Two cooperating modules form the outer loop:

1. **Trajectory planner** — converts waypoints + modes into a `(15 × max_iter)` desired state matrix using cubic splines per segment
2. **Position controller** — PID feedback on position/velocity errors → thrust `F` and desired acceleration

## Trajectory Planner

### Segment modes

| Mode | Behaviour |