Browsed a paper Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)
Came across an interesting PR Updates to the Lee Controller into crazyflie-firmware. It refers a papers Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3) and Geometric Nonlinear PID Control of a Quadrotor UAV on SE(3).