Circular trajectory tracking 

This example demonstrates the quadrotor's path tracking using the ReferenceTrajectories pre-planned path component for defining the reference position. As the RegerenceTrajectories does not include yaw this has to be set separately. Various trajectory types can be selected within the reference trajectory, where amplitude and period determine the maximum distance from the origin and the time required for a complete path (so higher period means slower path generation), respectively. The inputs are connected to the controller, and the controller command is then connected to the quadrotor body. While the default controller values work adequately for both trajectories, achieving more precise path tracking entails tuning the PID controllers for x and y positions for each trajectory type.