Individual skill
attitude-controller-planner
Use this skill when implementing the inner control loop for a quadrotor — attitude (roll/pitch/yaw) PID control and attitude planning (converting desired acceleration to desired Euler angles). Covers gain layout, integral reset pattern, and the attitude planner inverse kinematics.
tasks/drone-planning-control/environment/skills/attitude-controller-planner/SKILL.md
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# Attitude Controller and Planner
## Overview
Two cooperating modules form the inner loop:
1. **Attitude planner** — converts desired linear acceleration → desired roll/pitch angles (φ_des, θ_des)
2. **Attitude controller** — PID feedback on Euler angle errors → moments [M₁, M₂, M₃]
## Attitude Planner
### Implementation Logic
Given desired acceleration `[ax, ay]` and current yaw `ψ`, compute desired roll/pitch via inverse kinematics: