Some small questions about "Mellinger " controller

[Ruocheng]

Hi!
Recently I'm using Mellinger controller in crazyflie_ros. I published the cmd_fullstate(position, velocity, acceleration) and make the crazyflie tracking the given trajectory. The result is excellent, but I still have some problems..
(1) what if I don't publish the fullstate when using Mellinger controller? For example, just pub position or velocity? Whether or not the Mellinger controller must combine with the fullstate?
Thanks a lot！

[kristoffer]

Hi!

The ROS driver and the Mellinger controller were contributed by the people at Crazyswarm, you might get a better answer if you post this question there instead?

[Ruocheng]

Hi
Thanks for your reply! I'll do it!