ResearchBenchmarksWaypoint-following trajectory tracking on HolyBro x650 quadcopter (Hardware flight tests)Waypoint-following trajectory tracking on HolyBro x650 quadcopter (Hardware flight tests)Follow0.152RMSE X (m)PX40.15020.162350.17450.18665Mar 5, 2026Evaluation resultsMethodMethodLinksRMSE X (m)RMSE Y (m)RMSE Z (m)Total RMSE (m)PX4Measurement Note=RMSE...Measurement Note=RMSE only includes data after t = 63s, after altitude control had stabilized2026.030.1520.1020.4310.469ROScopter2026.030.1970.1450.4740.533