diff --git a/Makefile b/Makefile
index 0b80973f37..1f8b159a70 100644
--- a/Makefile
+++ b/Makefile
@@ -169,7 +169,7 @@ PROJ_OBJ += range.o app_handler.o static_mem.o
 PROJ_OBJ += commander.o crtp_commander.o crtp_commander_rpyt.o
 PROJ_OBJ += crtp_commander_generic.o crtp_localization_service.o
 PROJ_OBJ += attitude_pid_controller.o sensfusion6.o stabilizer.o
-PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o
+PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o position_controller_indi.o
 PROJ_OBJ += estimator.o estimator_complementary.o
 PROJ_OBJ += controller.o controller_pid.o controller_mellinger.o controller_indi.o
 PROJ_OBJ += power_distribution_$(POWER_DISTRIBUTION).o
diff --git a/src/modules/interface/controller_indi.h b/src/modules/interface/controller_indi.h
index 2f11e2180c..98f3dc3b46 100644
--- a/src/modules/interface/controller_indi.h
+++ b/src/modules/interface/controller_indi.h
@@ -33,6 +33,7 @@
 #include "param.h"
 #include "position_controller.h"
 #include "attitude_controller.h"
+#include "position_controller_indi.h"
 
 #define ATTITUDE_UPDATE_DT    (float)(1.0f/ATTITUDE_RATE)
 
@@ -43,13 +44,13 @@
 #define STABILIZATION_INDI_FILT_CUTOFF_R STABILIZATION_INDI_FILT_CUTOFF
 
 // these parameters are used in the filtering of the angular acceleration
-#define STABILIZATION_INDI_G1_P 0.0034724f
-#define STABILIZATION_INDI_G1_Q 0.0052575f
-#define STABILIZATION_INDI_G1_R -0.0015942f
-#define STABILIZATION_INDI_G2_R -0.11281f
-#define STABILIZATION_INDI_REF_ERR_P 3.57f
-#define STABILIZATION_INDI_REF_ERR_Q 3.57f
-#define STABILIZATION_INDI_REF_ERR_R 3.57f
+#define STABILIZATION_INDI_G1_P 0.0066146f
+#define STABILIZATION_INDI_G1_Q 0.0052125f
+#define STABILIZATION_INDI_G1_R -0.001497f
+#define STABILIZATION_INDI_G2_R 0.000043475f
+#define STABILIZATION_INDI_REF_ERR_P 24.0f
+#define STABILIZATION_INDI_REF_ERR_Q 24.0f
+#define STABILIZATION_INDI_REF_ERR_R 24.0f
 #define STABILIZATION_INDI_REF_RATE_P 14.0f
 #define STABILIZATION_INDI_REF_RATE_Q 14.0f
 #define STABILIZATION_INDI_REF_RATE_R 14.0f
diff --git a/src/modules/interface/position_controller_indi.h b/src/modules/interface/position_controller_indi.h
new file mode 100644
index 0000000000..2c7e3750da
--- /dev/null
+++ b/src/modules/interface/position_controller_indi.h
@@ -0,0 +1,87 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2011-2016 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * position_controller_indi.h - INDI Controller Interface
+ */
+
+#ifndef __POSITION_CONTROLLER_INDI_H__
+#define __POSITION_CONTROLLER_INDI_H__
+
+// Thrust command (in motor units)
+#define MIN_THRUST  0
+#define MAX_THRUST  60000
+
+// Cutoff frequency used in the filtering 
+#define POSITION_INDI_FILT_CUTOFF 8.0f
+
+#include "controller_indi.h"
+#include "stabilizer_types.h"
+#include "filter.h"
+#include "math3d.h"
+#include "log.h"
+#include "param.h"
+
+struct Vectr {
+  float x; 
+  float y; 
+  float z;
+};
+
+struct Angles {
+  float phi; 
+  float theta;
+  float psi;
+};
+
+struct IndiOuterVariables {
+
+  Butterworth2LowPass ddxi[3];
+  Butterworth2LowPass ang[3];
+  Butterworth2LowPass thr[3];
+
+  float filt_cutoff;
+  float act_dyn_posINDI;
+
+  struct Vectr linear_accel_ref;  
+  struct Vectr linear_accel_err;
+  struct Vectr linear_accel_s;    // acceleration sensed
+  struct Vectr linear_accel_f;    // acceleration filtered
+  struct Vectr linear_accel_ft;   // acceleration filtered transformed to NED 
+  struct Angles attitude_s;       // attitude senssed (here estimated)
+  struct Angles attitude_f;       // attitude filtered
+  struct Angles attitude_c;       // attitude commanded to the inner loop
+  float phi_tilde;                // roll angle increment
+  float theta_tilde;              // pitch angle increment
+  float T_tilde;                  // thrust increment
+  float T_inner;                  // thrust to inner INDI
+  float T_inner_f;
+  float T_incremented;
+};
+
+void positionControllerINDIInit(void);
+void positionControllerINDI(const sensorData_t *sensors,
+                            setpoint_t *setpoint,
+                            const state_t *state, 
+                            vector_t *refOuterINDI);
+
+#endif //__POSITION_CONTROLLER_INDI_H__
diff --git a/src/modules/src/controller_indi.c b/src/modules/src/controller_indi.c
index cab6d94f7f..ac7df2ced4 100644
--- a/src/modules/src/controller_indi.c
+++ b/src/modules/src/controller_indi.c
@@ -31,15 +31,20 @@ static float bound_control_input = 32000.0f;
 static attitude_t attitudeDesired;
 static attitude_t rateDesired;
 static float actuatorThrust;
-static float roll_kp = 6.0f;
-static float pitch_kp = 6.0f;
-static float yaw_kp = 6.0f;
+static float roll_kp = 5.0f;
+static float pitch_kp = 5.0f;
+static float yaw_kp = 5.0f;
+
+static float attYawError; 
 
 static float r_roll;
 static float r_pitch;
 static float r_yaw;
 static float accelz;
 
+static vector_t refOuterINDI;				// Reference values from outer loop INDI
+static bool outerLoopActive = false ; 		// if 1, outer loop INDI is activated
+
 static struct IndiVariables indi = {
 		.g1 = {STABILIZATION_INDI_G1_P, STABILIZATION_INDI_G1_Q, STABILIZATION_INDI_G1_R},
 		.g2 = STABILIZATION_INDI_G2_R,
@@ -103,6 +108,21 @@ static inline void finite_difference_from_filter(float *output, Butterworth2LowP
 	}
 }
 
+static float capAngle(float angle) {
+  float result = angle;
+
+  while (result > 180.0f) {
+    result -= 360.0f;
+  }
+
+  while (result < -180.0f) {
+    result += 360.0f;
+  }
+
+  return result;
+}
+
+
 void controllerINDIInit(void)
 {
 	/*
@@ -119,6 +139,7 @@ void controllerINDIInit(void)
 
 	attitudeControllerInit(ATTITUDE_UPDATE_DT);
 	positionControllerInit();
+	positionControllerINDIInit();
 }
 
 bool controllerINDITest(void)
@@ -149,7 +170,7 @@ void controllerINDI(control_t *control, setpoint_t *setpoint,
 		}
 	}
 
-	if (RATE_DO_EXECUTE(POSITION_RATE, tick)) {
+	if (RATE_DO_EXECUTE(POSITION_RATE, tick) && !outerLoopActive) {
 		positionController(&actuatorThrust, &attitudeDesired, setpoint, state);
 	}
 
@@ -158,22 +179,57 @@ void controllerINDI(control_t *control, setpoint_t *setpoint,
 	 */
 	if (RATE_DO_EXECUTE(ATTITUDE_RATE, tick)) {
 
+		// Call outer loop INDI (position controller)
+		if (outerLoopActive) {
+			positionControllerINDI(sensors, setpoint, state, &refOuterINDI);
+		}
+
 		// Switch between manual and automatic position control
 		if (setpoint->mode.z == modeDisable) {
-			actuatorThrust = setpoint->thrust;
+				// INDI position controller not active, INDI attitude controller is main loop
+				actuatorThrust = setpoint->thrust;
+		} else{
+			if (outerLoopActive) {
+				// INDI position controller active, INDI attitude controller becomes inner loop
+				actuatorThrust = refOuterINDI.z;
+			}
 		}
-		if (setpoint->mode.x == modeDisable || setpoint->mode.y == modeDisable) {
-			attitudeDesired.roll = setpoint->attitude.roll;
-			attitudeDesired.pitch = setpoint->attitude.pitch;
+		if (setpoint->mode.x == modeDisable) {
+
+				// INDI position controller not active, INDI attitude controller is main loop
+				attitudeDesired.roll = setpoint->attitude.roll;
+			
+		}else{
+			if (outerLoopActive) {
+				// INDI position controller active, INDI attitude controller becomes inner loop
+				attitudeDesired.roll = refOuterINDI.x;
+			}
 		}
 
+		if (setpoint->mode.y == modeDisable) {
+
+				// INDI position controller not active, INDI attitude controller is main loop
+				attitudeDesired.pitch = setpoint->attitude.pitch;
+			
+		}else{
+			if (outerLoopActive) {
+				// INDI position controller active, INDI attitude controller becomes inner loop
+				attitudeDesired.pitch = refOuterINDI.y;
+			}
+		}
+		
+
 //	    attitudeControllerCorrectAttitudePID(state->attitude.roll, state->attitude.pitch, state->attitude.yaw,
 //	                                attitudeDesired.roll, attitudeDesired.pitch, attitudeDesired.yaw,
 //	                                &rateDesired.roll, &rateDesired.pitch, &rateDesired.yaw);
 
 		rateDesired.roll = roll_kp*(attitudeDesired.roll - state->attitude.roll);
 		rateDesired.pitch = pitch_kp*(attitudeDesired.pitch - state->attitude.pitch);
-		rateDesired.yaw = yaw_kp*(attitudeDesired.yaw - state->attitude.yaw);
+		//rateDesired.yaw = yaw_kp*(attitudeDesired.yaw - state->attitude.yaw);
+		attYawError = attitudeDesired.yaw - state->attitude.yaw;		
+		attYawError = capAngle(attYawError);
+		rateDesired.yaw = yaw_kp*attYawError;
+
 
 		// For roll and pitch, if velocity mode, overwrite rateDesired with the setpoint
 		// value. Also reset the PID to avoid error buildup, which can lead to unstable
@@ -228,14 +284,11 @@ void controllerINDI(control_t *control, setpoint_t *setpoint,
 		float attitude_error_q = radians(rateDesired.pitch) - stateAttitudeRatePitch;
 		float attitude_error_r = radians(rateDesired.yaw) - stateAttitudeRateYaw;
 
-		indi.angular_accel_ref.p = indi.reference_acceleration.err_p * attitude_error_p
-				- indi.reference_acceleration.rate_p * body_rates.p;
+		indi.angular_accel_ref.p = indi.reference_acceleration.err_p * attitude_error_p;
 
-		indi.angular_accel_ref.q = indi.reference_acceleration.err_q * attitude_error_q
-				- indi.reference_acceleration.rate_q * body_rates.q;
+		indi.angular_accel_ref.q = indi.reference_acceleration.err_q * attitude_error_q;
 
-		indi.angular_accel_ref.r = indi.reference_acceleration.err_r * attitude_error_r
-				- indi.reference_acceleration.rate_r * body_rates.r;
+		indi.angular_accel_ref.r = indi.reference_acceleration.err_r * attitude_error_r;
 
 		/*
 		 * 5. Update the For each axis: delta_command = 1/control_effectiveness * (angular_acceleration_reference – angular_acceleration)
@@ -247,7 +300,7 @@ void controllerINDI(control_t *control, setpoint_t *setpoint,
 		//(they have significant inertia, see the paper mentioned in the header for more explanation)
 		indi.du.p = 1.0f / indi.g1.p * (indi.angular_accel_ref.p - indi.rate_d[0]);
 		indi.du.q = 1.0f / indi.g1.q * (indi.angular_accel_ref.q - indi.rate_d[1]);
-		indi.du.r = 1.0f / (indi.g1.r + indi.g2) * (indi.angular_accel_ref.r - indi.rate_d[2] + indi.g2 * indi.du.r);
+		indi.du.r = 1.0f / (indi.g1.r - indi.g2) * (indi.angular_accel_ref.r - indi.rate_d[2] - indi.g2 * indi.du.r);
 
 
 		/*
@@ -299,6 +352,7 @@ void controllerINDI(control_t *control, setpoint_t *setpoint,
 	control->roll = indi.u_in.p;
 	control->pitch = indi.u_in.q;
 	control->yaw  = indi.u_in.r;
+
 }
 
 PARAM_GROUP_START(ctrlINDI)
@@ -322,6 +376,7 @@ PARAM_ADD(PARAM_FLOAT, act_dyn_q, &indi.act_dyn.q)
 PARAM_ADD(PARAM_FLOAT, act_dyn_r, &indi.act_dyn.r)
 PARAM_ADD(PARAM_FLOAT, filt_cutoff, &indi.filt_cutoff)
 PARAM_ADD(PARAM_FLOAT, filt_cutoff_r, &indi.filt_cutoff_r)
+PARAM_ADD(PARAM_UINT8, outerLoopActive, &outerLoopActive)
 PARAM_GROUP_STOP(ctrlINDI)
 
 LOG_GROUP_START(ctrlINDI)
diff --git a/src/modules/src/position_controller_indi.c b/src/modules/src/position_controller_indi.c
new file mode 100644
index 0000000000..2724935747
--- /dev/null
+++ b/src/modules/src/position_controller_indi.c
@@ -0,0 +1,351 @@
+/*
+ *
+ * Copyright (c) 2019 Ewoud Smeur and Evghenii Volodscoi
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * This control algorithm is the Incremental Nonlinear Dynamic Inversion (INDI)
+ * controller to control the position of the Crazyflie. It can be seen as an extension
+ * (outer loop) to the already existing INDI attitude controller (inner loop).
+ * 
+ * The control algorithm was implemented according to the publication in the
+ * journal od Control Engineering Practice: Cascaded Incremental Nonlinear Dynamic 
+ * Inversion for MAV Disturbance Rejection
+ * https://doi.org/10.1016/j.conengprac.2018.01.003
+ */
+
+
+#include "position_controller_indi.h"
+
+// Position controller gains
+float K_xi_x = 1.0f;
+float K_xi_y = 1.0f;
+float K_xi_z = 1.0f;
+// Velocity controller gains
+float K_dxi_x = 5.0f;
+float K_dxi_y = 5.0f;
+float K_dxi_z = 5.0f;
+// Thrust mapping parameter
+float K_thr = 0.00024730f;
+
+static float posS_x, posS_y, posS_z;			// Current position
+static float velS_x, velS_y, velS_z;			// Current velocity
+static float gyr_p, gyr_q, gyr_r;				// Current rates
+
+// Reference values
+static struct Vectr positionRef; 
+static struct Vectr velocityRef;
+
+
+static struct IndiOuterVariables indiOuter = {
+	.filt_cutoff = POSITION_INDI_FILT_CUTOFF,
+	.act_dyn_posINDI = STABILIZATION_INDI_ACT_DYN_P
+};
+
+
+void position_indi_init_filters(void)
+{
+	// tau = 1/(2*pi*Fc)
+	float tau = 1.0f / (2.0f * PI * indiOuter.filt_cutoff);
+	float tau_axis[3] = {tau, tau, tau};
+	float sample_time = 1.0f / ATTITUDE_RATE;
+	// Filtering of linear acceleration, attitude and thrust 
+	for (int8_t i = 0; i < 3; i++) {
+		init_butterworth_2_low_pass(&indiOuter.ddxi[i], tau_axis[i], sample_time, 0.0f);
+		init_butterworth_2_low_pass(&indiOuter.ang[i], tau_axis[i], sample_time, 0.0f);
+		init_butterworth_2_low_pass(&indiOuter.thr[i], tau_axis[i], sample_time, 0.0f);
+	}
+}
+
+// Linear acceleration filter
+static inline void filter_ddxi(Butterworth2LowPass *filter, struct Vectr *old_values, struct Vectr *new_values)
+{
+	new_values->x = update_butterworth_2_low_pass(&filter[0], old_values->x);
+	new_values->y = update_butterworth_2_low_pass(&filter[1], old_values->y);
+	new_values->z = update_butterworth_2_low_pass(&filter[2], old_values->z);
+}
+
+// Attitude filter
+static inline void filter_ang(Butterworth2LowPass *filter, struct Angles *old_values, struct Angles *new_values)
+{
+	new_values->phi = update_butterworth_2_low_pass(&filter[0], old_values->phi);
+	new_values->theta = update_butterworth_2_low_pass(&filter[1], old_values->theta);
+	new_values->psi = update_butterworth_2_low_pass(&filter[2], old_values->psi);
+}
+
+// Thrust filter
+static inline void filter_thrust(Butterworth2LowPass *filter, float *old_thrust, float *new_thrust) 
+{
+	*new_thrust = update_butterworth_2_low_pass(&filter[0], *old_thrust);
+}
+
+
+// Computes transformation matrix from body frame (index B) into NED frame (index O)
+void m_ob(struct Angles att, float matrix[3][3]) {
+
+	matrix[0][0] = cosf(att.theta)*cosf(att.psi);
+	matrix[0][1] = sinf(att.phi)*sinf(att.theta)*cosf(att.psi) - cosf(att.phi)*sinf(att.psi); 
+	matrix[0][2] = cosf(att.phi)*sinf(att.theta)*cosf(att.psi) + sinf(att.phi)*sinf(att.psi);
+	matrix[1][0] = cosf(att.theta)*sinf(att.psi);
+	matrix[1][1] = sinf(att.phi)*sinf(att.theta)*sinf(att.psi) + cosf(att.phi)*cosf(att.psi);
+	matrix[1][2] = cosf(att.phi)*sinf(att.theta)*sinf(att.psi) - sinf(att.phi)*cosf(att.psi);
+	matrix[2][0] = -sinf(att.theta);
+	matrix[2][1] = sinf(att.phi)*cosf(att.theta);
+	matrix[2][2] = cosf(att.phi)*cosf(att.theta);
+}
+
+
+void positionControllerINDIInit(void)
+{
+	// Re-initialize filters
+	position_indi_init_filters();
+}
+
+
+void positionControllerINDI(const sensorData_t *sensors,
+                            setpoint_t *setpoint,
+                            const state_t *state, 
+                            vector_t *refOuterINDI){ 
+
+	// Read states (position, velocity)
+	posS_x = state->position.x;
+	posS_y = -state->position.y;
+	posS_z = -state->position.z;
+	velS_x = state->velocity.x;
+	velS_y = -state->velocity.y;
+	velS_z = -state->velocity.z;
+	gyr_p = sensors->gyro.x;
+	gyr_q = sensors->gyro.y;
+	gyr_r = sensors->gyro.z; 
+
+	// Read in velocity setpoints
+    velocityRef.x = setpoint->velocity.x;
+	velocityRef.y = -setpoint->velocity.y;
+    velocityRef.z = -setpoint->velocity.z;
+
+	// Position controller (Proportional)
+	if (setpoint->mode.x == modeAbs) {
+		positionRef.x = setpoint->position.x;
+		velocityRef.x = K_xi_x*(positionRef.x - posS_x);
+	}
+	if (setpoint->mode.y == modeAbs) {
+		positionRef.y = -setpoint->position.y;
+		velocityRef.y = K_xi_y*(positionRef.y - posS_y);
+	}
+	if (setpoint->mode.z == modeAbs) {
+		positionRef.z = -setpoint->position.z;
+		velocityRef.z = K_xi_z*(positionRef.z - posS_z);
+	}
+
+	// Velocity controller (Proportional)
+	indiOuter.linear_accel_ref.x = K_dxi_x*(velocityRef.x - velS_x);
+	indiOuter.linear_accel_ref.y = K_dxi_y*(velocityRef.y - velS_y);
+	indiOuter.linear_accel_ref.z = K_dxi_z*(velocityRef.z - velS_z); 
+
+	// Acceleration controller (INDI)
+	// Read lin. acceleration (Body-fixed) obtained from sensors CHECKED
+	indiOuter.linear_accel_s.x = (sensors->acc.x)*9.81f;
+	indiOuter.linear_accel_s.y = (-sensors->acc.y)*9.81f;
+	indiOuter.linear_accel_s.z = (-sensors->acc.z)*9.81f;
+
+	// Filter lin. acceleration 
+	filter_ddxi(indiOuter.ddxi, &indiOuter.linear_accel_s, &indiOuter.linear_accel_f);
+
+	// Obtain actual attitude values (in deg)
+	indiOuter.attitude_s.phi = state->attitude.roll; 
+	indiOuter.attitude_s.theta = state->attitude.pitch;
+	indiOuter.attitude_s.psi = -state->attitude.yaw;
+	filter_ang(indiOuter.ang, &indiOuter.attitude_s, &indiOuter.attitude_f);
+
+
+	// Actual attitude (in rad)
+	struct Angles att = {
+		.phi = indiOuter.attitude_f.phi/180*PI,
+		.theta = indiOuter.attitude_f.theta/180*PI,
+		.psi = indiOuter.attitude_f.psi/180*PI,
+	};
+
+	// Compute transformation matrix from body frame (index B) into NED frame (index O)
+	float M_OB[3][3] = {0};
+	m_ob(att, M_OB);
+
+	// Transform lin. acceleration in NED (add gravity to the z-component)
+	indiOuter.linear_accel_ft.x = M_OB[0][0]*indiOuter.linear_accel_f.x + M_OB[0][1]*indiOuter.linear_accel_f.y + M_OB[0][2]*indiOuter.linear_accel_f.z;
+	indiOuter.linear_accel_ft.y = M_OB[1][0]*indiOuter.linear_accel_f.x + M_OB[1][1]*indiOuter.linear_accel_f.y + M_OB[1][2]*indiOuter.linear_accel_f.z;
+	indiOuter.linear_accel_ft.z = M_OB[2][0]*indiOuter.linear_accel_f.x + M_OB[2][1]*indiOuter.linear_accel_f.y + M_OB[2][2]*indiOuter.linear_accel_f.z + 9.81f;
+
+	// Compute lin. acceleration error
+	indiOuter.linear_accel_err.x = indiOuter.linear_accel_ref.x - indiOuter.linear_accel_ft.x;
+	indiOuter.linear_accel_err.y = indiOuter.linear_accel_ref.y - indiOuter.linear_accel_ft.y;
+	indiOuter.linear_accel_err.z = indiOuter.linear_accel_ref.z - indiOuter.linear_accel_ft.z;
+
+	// Elements of the G matrix (see publication for more information) 
+	// ("-" because T points in neg. z-direction, "*9.81" because T/m=a=g, 
+	// negative psi to account for wrong coordinate frame in the implementation of the inner loop)
+	float g11 = (cosf(att.phi)*sinf(-att.psi) - sinf(att.phi)*sinf(att.theta)*cosf(-att.psi))*(-9.81f);
+	float g12 = (cosf(att.phi)*cosf(-att.theta)*cosf(-att.psi))*(-9.81f);
+	float g13 = (sinf(att.phi)*sinf(-att.psi) + cosf(att.phi)*sinf(att.theta)*cosf(-att.psi));
+	float g21 = (-cosf(att.phi)*cosf(-att.psi) - sinf(att.phi)*sinf(att.theta)*sinf(-att.psi))*(-9.81f);
+	float g22 = (cosf(att.phi)*cosf(att.theta)*sinf(-att.psi))*(-9.81f);
+	float g23 = (-sinf(att.phi)*cosf(-att.psi) + cosf(att.phi)*sinf(att.theta)*sinf(-att.psi));
+	float g31 = (-sinf(att.phi)*cosf(att.theta))*(-9.81f);
+	float g32 = (-cosf(att.phi)*sinf(att.theta))*(-9.81f);
+	float g33 = (cosf(att.phi)*cosf(att.theta));
+
+	// Next four blocks of the code are to compute the Moore-Penrose inverse of the G matrix
+	// (G'*G)
+	float a11 = g11*g11 + g21*g21 + g31*g31;
+	float a12 = g11*g12 + g21*g22 + g31*g32;
+	float a13 = g11*g13 + g21*g23 + g31*g33;
+	float a21 = g12*g11 + g22*g21 + g32*g31;
+	float a22 = g12*g12 + g22*g22 + g32*g32;
+	float a23 = g12*g13 + g22*g23 + g32*g33;
+	float a31 = g13*g11 + g23*g21 + g33*g31;
+	float a32 = g13*g12 + g23*g22 + g33*g32;
+	float a33 = g13*g13 + g23*g23 + g33*g33;
+
+	// Determinant of (G'*G)
+	float detG = (a11*a22*a33 + a12*a23*a31 + a21*a32*a13) - (a13*a22*a31 + a11*a32*a23 + a12*a21*a33); 
+
+	// Inverse of (G'*G)
+	float a11_inv = (a22*a33 - a23*a32)/detG;
+	float a12_inv = (a13*a32 - a12*a33)/detG;
+	float a13_inv = (a12*a23 - a13*a22)/detG;
+	float a21_inv = (a23*a31 - a21*a33)/detG;
+	float a22_inv = (a11*a33 - a13*a31)/detG;
+	float a23_inv = (a13*a21 - a11*a23)/detG;
+	float a31_inv = (a21*a32 - a22*a31)/detG;
+	float a32_inv = (a12*a31 - a11*a32)/detG;
+	float a33_inv = (a11*a22 - a12*a21)/detG; 
+
+	// G_inv = (G'*G)_inv*G'
+	float g11_inv = a11_inv*g11 + a12_inv*g12 + a13_inv*g13;
+	float g12_inv = a11_inv*g21 + a12_inv*g22 + a13_inv*g23;
+	float g13_inv = a11_inv*g31 + a12_inv*g32 + a13_inv*g33;
+	float g21_inv = a21_inv*g11 + a22_inv*g12 + a23_inv*g13;
+	float g22_inv = a21_inv*g21 + a22_inv*g22 + a23_inv*g23;
+	float g23_inv = a21_inv*g31 + a22_inv*g32 + a23_inv*g33;
+	float g31_inv = a31_inv*g11 + a32_inv*g12 + a33_inv*g13;
+	float g32_inv = a31_inv*g21 + a32_inv*g22 + a33_inv*g23;
+	float g33_inv = a31_inv*g31 + a32_inv*g32 + a33_inv*g33;
+
+	// Lin. accel. error multiplied  G^(-1) matrix (T_tilde negated because motor accepts only positiv commands, angles are in rad)
+	indiOuter.phi_tilde   = (g11_inv*indiOuter.linear_accel_err.x + g12_inv*indiOuter.linear_accel_err.y + g13_inv*indiOuter.linear_accel_err.z);
+	indiOuter.theta_tilde = (g21_inv*indiOuter.linear_accel_err.x + g22_inv*indiOuter.linear_accel_err.y + g23_inv*indiOuter.linear_accel_err.z);
+	indiOuter.T_tilde     = -(g31_inv*indiOuter.linear_accel_err.x + g32_inv*indiOuter.linear_accel_err.y + g33_inv*indiOuter.linear_accel_err.z)/K_thr; 	
+
+	// Filter thrust
+	filter_thrust(indiOuter.thr, &indiOuter.T_incremented, &indiOuter.T_inner_f);
+
+	// Pass thrust through the model of the actuator dynamics
+	indiOuter.T_inner = indiOuter.T_inner + indiOuter.act_dyn_posINDI*(indiOuter.T_inner_f - indiOuter.T_inner); 
+
+	// Compute trust that goes into the inner loop
+		indiOuter.T_incremented = indiOuter.T_tilde + indiOuter.T_inner;
+
+	// Compute commanded attitude to the inner INDI
+	indiOuter.attitude_c.phi = indiOuter.attitude_f.phi + indiOuter.phi_tilde*180/PI;
+	indiOuter.attitude_c.theta = indiOuter.attitude_f.theta + indiOuter.theta_tilde*180/PI;	
+
+	// Clamp commands
+	indiOuter.T_incremented = clamp(indiOuter.T_incremented, MIN_THRUST, MAX_THRUST);
+	indiOuter.attitude_c.phi = clamp(indiOuter.attitude_c.phi, -10.0f, 10.0f); 	
+	indiOuter.attitude_c.theta = clamp(indiOuter.attitude_c.theta, -10.0f, 10.0f);
+
+	// Reference values, which are passed to the inner loop INDI (attitude controller)
+	refOuterINDI->x = indiOuter.attitude_c.phi;
+	refOuterINDI->y = indiOuter.attitude_c.theta;
+	refOuterINDI->z = indiOuter.T_incremented;
+
+}
+
+
+PARAM_GROUP_START(posCtrlIndi)
+
+// Position controller gain
+PARAM_ADD(PARAM_FLOAT, K_xi_x, &K_xi_x)
+PARAM_ADD(PARAM_FLOAT, K_xi_y, &K_xi_y)
+PARAM_ADD(PARAM_FLOAT, K_xi_z, &K_xi_z)
+
+// Velocity Controller gain
+PARAM_ADD(PARAM_FLOAT, K_dxi_x, &K_dxi_x)
+PARAM_ADD(PARAM_FLOAT, K_dxi_y, &K_dxi_y)
+PARAM_ADD(PARAM_FLOAT, K_dxi_z, &K_dxi_z)
+
+PARAM_GROUP_STOP(posCtrlIndi)
+
+
+
+LOG_GROUP_START(posCtrlIndi)
+
+// Angular veocity
+LOG_ADD(LOG_FLOAT, gyr_p, &gyr_p)
+LOG_ADD(LOG_FLOAT, gyr_q, &gyr_q)
+LOG_ADD(LOG_FLOAT, gyr_r, &gyr_r)
+
+LOG_ADD(LOG_FLOAT, posRef_x, &positionRef.x)
+LOG_ADD(LOG_FLOAT, posRef_y, &positionRef.y)
+LOG_ADD(LOG_FLOAT, posRef_z, &positionRef.z)
+
+// Velocity
+LOG_ADD(LOG_FLOAT, velS_x, &velS_x)
+LOG_ADD(LOG_FLOAT, velS_y, &velS_y)
+LOG_ADD(LOG_FLOAT, velS_z, &velS_z)
+
+LOG_ADD(LOG_FLOAT, velRef_x, &velocityRef.x)
+LOG_ADD(LOG_FLOAT, velRef_y, &velocityRef.y)
+LOG_ADD(LOG_FLOAT, velRef_z, &velocityRef.z)
+
+// Attitude
+LOG_ADD(LOG_FLOAT, angS_roll, &indiOuter.attitude_s.phi)
+LOG_ADD(LOG_FLOAT, angS_pitch, &indiOuter.attitude_s.theta)
+LOG_ADD(LOG_FLOAT, angS_yaw, &indiOuter.attitude_s.psi)
+
+LOG_ADD(LOG_FLOAT, angF_roll, &indiOuter.attitude_f.phi)
+LOG_ADD(LOG_FLOAT, angF_pitch, &indiOuter.attitude_f.theta)
+LOG_ADD(LOG_FLOAT, angF_yaw, &indiOuter.attitude_f.psi)
+
+// Acceleration
+LOG_ADD(LOG_FLOAT, accRef_x, &indiOuter.linear_accel_ref.x)
+LOG_ADD(LOG_FLOAT, accRef_y, &indiOuter.linear_accel_ref.y)
+LOG_ADD(LOG_FLOAT, accRef_z, &indiOuter.linear_accel_ref.z)
+
+LOG_ADD(LOG_FLOAT, accS_x, &indiOuter.linear_accel_s.x)
+LOG_ADD(LOG_FLOAT, accS_y, &indiOuter.linear_accel_s.y)
+LOG_ADD(LOG_FLOAT, accS_z, &indiOuter.linear_accel_s.z)
+
+LOG_ADD(LOG_FLOAT, accF_x, &indiOuter.linear_accel_f.x)
+LOG_ADD(LOG_FLOAT, accF_y, &indiOuter.linear_accel_f.y)
+LOG_ADD(LOG_FLOAT, accF_z, &indiOuter.linear_accel_f.z)
+
+LOG_ADD(LOG_FLOAT, accFT_x, &indiOuter.linear_accel_ft.x)
+LOG_ADD(LOG_FLOAT, accFT_y, &indiOuter.linear_accel_ft.y)
+LOG_ADD(LOG_FLOAT, accFT_z, &indiOuter.linear_accel_ft.z)
+
+LOG_ADD(LOG_FLOAT, accErr_x, &indiOuter.linear_accel_err.x)
+LOG_ADD(LOG_FLOAT, accErr_y, &indiOuter.linear_accel_err.y)
+LOG_ADD(LOG_FLOAT, accErr_z, &indiOuter.linear_accel_err.z)
+
+// INDI outer loop variables
+LOG_ADD(LOG_FLOAT, phi_tilde, &indiOuter.phi_tilde)
+LOG_ADD(LOG_FLOAT, theta_tilde, &indiOuter.theta_tilde)
+LOG_ADD(LOG_FLOAT, T_tilde, &indiOuter.T_tilde)
+
+LOG_ADD(LOG_FLOAT, T_inner, &indiOuter.T_inner)
+LOG_ADD(LOG_FLOAT, T_inner_f, &indiOuter.T_inner_f)
+LOG_ADD(LOG_FLOAT, T_incremented, &indiOuter.T_incremented)
+
+LOG_ADD(LOG_FLOAT, cmd_phi, &indiOuter.attitude_c.phi)
+LOG_ADD(LOG_FLOAT, cmd_theta, &indiOuter.attitude_c.theta)
+
+LOG_GROUP_STOP(posCtrlIndi)
diff --git a/tools/param_est/data_1901.csv b/tools/param_est/data_1901.csv
new file mode 100644
index 0000000000..2a00da0296
--- /dev/null
+++ b/tools/param_est/data_1901.csv
@@ -0,0 +1,19093 @@
+tick,controller.r_roll,controller.r_pitch,controller.r_yaw,controller.cmd_thrust,controller.cmd_roll,controller.cmd_pitch,controller.cmd_yaw,controller.accelz
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diff --git a/tools/param_est/import_logdata.m b/tools/param_est/import_logdata.m
new file mode 100644
index 0000000000..f33f875902
--- /dev/null
+++ b/tools/param_est/import_logdata.m
@@ -0,0 +1,42 @@
+function [tick, gyro_roll, gyro_pitch, gyro_yaw, ...
+         cmd_thrust, cmd_roll, cmd_pitch, cmd_yaw,...
+         accelz] = import_logdata(filename)
+
+%% Import data from text file
+% Script for importing data from the following text file:
+%
+%    filename: /home/evgheniivolodscoi/LRZ Sync+Share/TUM/Master_AS_RCI/Semester_3/Semesterarbeit/code/param_est/csv_data/data_1901.csv
+%
+% Auto-generated by MATLAB on 20-Jan-2020 01:14:14
+
+%% Setup the Import Options
+opts = delimitedTextImportOptions("NumVariables", 9);
+
+% Specify range and delimiter
+opts.DataLines = [2, Inf];
+opts.Delimiter = ",";
+
+% Specify column names and types
+opts.VariableNames = ["tick", "controllerr_roll", "controllerr_pitch", "controllerr_yaw", "controllercmd_thrust", "controllercmd_roll", "controllercmd_pitch", "controllercmd_yaw", "controlleraccelz"];
+opts.VariableTypes = ["double", "double", "double", "double", "double", "double", "double", "double", "double"];
+opts.ExtraColumnsRule = "ignore";
+opts.EmptyLineRule = "read";
+
+% Import the data
+tbl = readtable(filename, opts);
+
+%% Convert to output type
+tick = tbl.tick;
+gyro_roll = tbl.controllerr_roll;
+gyro_pitch = tbl.controllerr_pitch;
+gyro_yaw = tbl.controllerr_yaw;
+cmd_thrust = tbl.controllercmd_thrust;
+cmd_roll = tbl.controllercmd_roll;
+cmd_pitch = tbl.controllercmd_pitch;
+cmd_yaw = tbl.controllercmd_yaw;
+accelz = tbl.controlleraccelz;
+
+%% Clear temporary variables
+clear opts tbl
+
+end
\ No newline at end of file
diff --git a/tools/param_est/param_estimation.m b/tools/param_est/param_estimation.m
new file mode 100644
index 0000000000..4d451af843
--- /dev/null
+++ b/tools/param_est/param_estimation.m
@@ -0,0 +1,81 @@
+clc
+clear 
+close all
+
+%% Parameters 
+Ts = 1/500;
+Fs = 1/Ts;
+
+T = 0.0617;                      % Time constant T [s]
+alpha = 1 - exp(-Ts/T);   
+
+filename = "data_1901.csv";
+
+%% Import data
+
+[tick, gyro_roll, gyro_pitch, gyro_yaw, cmd_thrust, cmd_roll,... 
+ cmd_pitch, cmd_yaw, accelz] = import_logdata(filename);
+
+time = (tick - tick(1)) / 1000;
+
+%% Actuator dynamics
+cmd_roll_a = filter([alpha], [1, -(1-alpha)], cmd_roll);
+cmd_pitch_a = filter([alpha], [1, -(1-alpha)], cmd_pitch);
+cmd_yaw_a = filter([alpha], [1, -(1-alpha)], cmd_yaw);
+cmd_thrust_a = filter([alpha], [1, -(1-alpha)], cmd_thrust);
+
+
+%% Data preprocessing
+
+[b, a] = butter(4, 4/(Fs/2));       % compute filter coeffs
+
+% Filtering gyro data to remove noise
+gyro_roll_f = filter(b, a, gyro_roll);
+gyro_pitch_f = filter(b, a, gyro_pitch);
+gyro_yaw_f = filter(b, a, gyro_yaw);
+
+% Filtering cmd data to remove noise
+cmd_roll_f = filter(b, a, cmd_roll_a);
+cmd_pitch_f = filter(b, a, cmd_pitch_a);
+cmd_yaw_f = filter(b, a, cmd_yaw_a);
+
+% Differtiating angular velocities to get angular accelerations
+ang_accel_roll = [0; diff(gyro_roll_f)]/Ts;
+ang_accel_pitch = [0; diff(gyro_pitch_f)]/Ts;
+ang_accel_yaw = [0; diff(gyro_yaw_f)]/Ts;
+
+% Differentiating 2nd time (for parameter estimation)
+ang_accel_roll_d = [0; diff(ang_accel_roll)]/Ts;
+ang_accel_pitch_d = [0; diff(ang_accel_pitch)]/Ts;
+ang_accel_yaw_d = [0; diff(ang_accel_yaw)]/Ts;
+
+% Differentiating cmd (for parameter estimation)
+cmd_roll_fd = [0; diff(cmd_roll_f)]/Ts;
+cmd_pitch_fd = [0; diff(cmd_pitch_f)]/Ts;
+cmd_yaw_fd = [0; diff(cmd_yaw_f)]/Ts;
+cmd_yaw_fdd = [0; diff(cmd_yaw_fd)]/Ts;
+
+
+%% Compute control effectiveness parameters (least squares fitting)
+G_roll = cmd_roll_fd \ ang_accel_roll_d;
+G_pitch = cmd_pitch_fd \ ang_accel_pitch_d;
+G_yaw = [cmd_yaw_fd cmd_yaw_fdd] \ ang_accel_yaw_d;
+
+
+%%  Plot results 
+display(['T = ' num2str(T) 's; Fs = ' num2str(Fs) 'Hz; alpha = ' num2str(alpha)])
+display(['G1_roll = ' num2str(G_roll) '; G1_pitch = ' num2str(G_pitch) ...
+         '; G1_yaw = ' num2str(G_yaw(1)) '; G2_yaw = ' num2str(G_yaw(2))])
+
+% % Plot contributions of G matrices
+% figure('Name','G1_yaw contribution');
+% plot(ang_accel_yaw_d); hold on
+% plot([cmd_yaw_fd 0*cmd_yaw_fdd]*G_yaw)
+% xlim([0 inf]); grid on;
+% legend('ang\_accel\_yaw\_d', 'cmd*G1')
+% 
+% figure('Name','G2_yaw contribution');
+% plot(ang_accel_yaw_d); hold on
+% plot([0*cmd_yaw_fd cmd_yaw_fdd]*G_yaw)
+% xlim([0 inf]); grid on;
+% legend('ang\_accel\_yaw\_d', 'cmdd*G2')
\ No newline at end of file