Before revision:  The real experiments on our robots and simulations on several UAV architectures show how the strategies can be utilized . The source code of the PX4 firmware enhanced with the proposed methods and its simulator with our fully-actuated hexarotor model are provided with this paper.
After revision:  The real experiments on our robots and simulations on several UAV architectures show how the strategies can be utilized to extend existing flight controllers for fully-actuated applications. We have provided the source code for the PX4 firmware enhanced with the proposed methods and its simulator with our fully-actuated hexarotor model are provided with this paper.