I have a few questions about Parrot AR drone 2. Here is the official website
Q1:What are the controllers for the AR drone 2? Is there a position controller (GPS), velocity controller (accelerometer), attitude controller, heading controller (compass), and/or altitude controller (barometer) in the microchip of AR drone 2?
Q2:If there are some of the controllers that I mentioned above, and these controllers may need the current states for feedback control purpose, do the current states form the estimation based on IMU data?
To be more specific, if there is a PID position controller, we need the desired position and current position information for feedback controlling. Is the current position from the estimation algorithm (like EKF) based on IMU sensor data?
Q3:Is there any way that I can control the motor speed for AR drone 2 directly and use my own controllers?
any suggestions and comments would be helpful! Thanks in advance!