L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors

This video shows the latest demos of the L1Quad. Our control architecture is implemented on a Pixhawk flight controller with customized Ardupilot firmware running the geometric controller with L1 augmentation at 400 Hz. All the demos use the same set of control parameters.
arXiv pre-print: arxiv.org/abs/...