moved to the docs

Author: klaxalk

README.md

@@ -1,38 +1,3 @@
 # MRS UAV Controllers
 
-![](.fig/thumbnail.jpg)
-
-> :warning: **Attention please: This README is outdated.**
->
-> The MRS UAV System 1.5 is being released, and this page needs updating. Please keep in mind that the information on this page might not be valid.
-
-## Purpose of a controller within the MRS control pipeline
-
-* receiving an all-state reference from [reference trackers](https://github.com/ctu-mrs/mrs_uav_trackers)
-* outputs control command to the [HW Api](https://github.com/ctu-mrs/mrs_uav_hw_api).
-
-## Available controllers
-
-* "SE(3) controller"
-  * geometric state feedback in SE(3) capable of precise reference tracking and fast maneuvers
-  * **pros**: precise control, fast response, fast convergence
-  * **cons**: sensitive to measurement noise, requires a feasible and smooth reference, needs to be tuned
-  * originally published in: `Lee, et al., "Geometric tracking control of a quadrotor UAV on SE(3)", CDC 2010`, [link](https://ieeexplore.ieee.org/abstract/document/5717652)
-* "MPC controller"
-  * SO(3) force tracking + Linear MPC for acceleration feedforward
-  * **pros**: robust control, immune to measurement noise and reference infeasibilities
-  * **cons**: larger control error than with SE(3)
-  * briefly described in: `Petrlik, et al., "A Robust UAV System for Operations in a Constrained Environment", RA-L 2020`, [link](https://ieeexplore.ieee.org/abstract/document/8979150)
-* "Failsafe controller"
-  * feedforward controller for landing without a state estimator
-  * is triggered in case of emergency
-
-## Controller interface
-
-The controllers are compiled as *ROS plugins* ([http://wiki.ros.org/pluginlib](http://wiki.ros.org/pluginlib)) with the [interface](https://github.com/ctu-mrs/mrs_uav_managers/blob/master/include/mrs_uav_managers/controller.h) defined by the [control manager](https://github.com/ctu-mrs/mrs_uav_managers).
-A controller from any ROS package can be loaded dynamically by the [control manager](https://github.com/ctu-mrs/mrs_uav_managers) without it being present during [control manager](https://github.com/ctu-mrs/mrs_uav_managers)'s compile time.
-Loaded controllers can be switched by the [control manager](https://github.com/ctu-mrs/mrs_uav_managers) in mid-flight, which allows safe testing of new controllers and adds flexibility to the [MRS UAV system](https://github.com/ctu-mrs/mrs_uav_system).
-
-## Loading controllers to the [Control manager](https://github.com/ctu-mrs/mrs_uav_managers)
-
-An example controller plugin is located [here](https://github.com/ctu-mrs/mrs_core_examples).
+Please follow to the [documentation page](https://ctu-mrs.github.io/docs/features/controllers/).