Extended Data Fig. 4: Processing and control loops onboard of the quadrotor drone (a Parrot Bebop 2) used in the robotic experiments.
From: Accommodating unobservability to control flight attitude with optic flow
a, Onboard image processing, state estimation, and control used for fully autonomous flight of the drone. b, Control diagram for the optic flow outer loop control, where the longitudinal and lateral optic flow \({\omega }_{x}\) and \({\omega }_{y}\) are used to set desired attitude angles for the inner loop control and the divergence \({\omega }_{z}\) directly leads to a thrust command \({u}_{T}\). c, Inner loop control to transform desired attitude setpoints \({\theta }^{* }\), \({\phi }^{* }\) into moment commands \({u}_{M}\) for the quadrotor motor mixing. For the INDI block we refer the reader to59.
