  The introduction of fully-actuated multirotors has opened the door to new
possibilities and more efficient solutions to many real-world applications.
However, their integration had been slower than expected, partly due to the
need for new tools to take full advantage of these robots.
  As far as we know, all the groups currently working on the fully-actuated
multirotors develop new full-pose (6-D) tools and methods to use their robots,
which is inefficient, time-consuming, and requires many resources.
  We propose a way of bridging the gap between the tools already available for
underactuated robots and the new fully-actuated vehicles. The approach can
extend the existing underactuated flight controllers to support the
fully-actuated robots, or enhance the existing fully-actuated controllers to
support existing underactuated flight stacks. We introduce attitude strategies
that work with the underactuated controllers, tools, planners and remote
control interfaces, all while allowing taking advantage of the full actuation.
Moreover, new methods are proposed that can properly handle the limited lateral
thrust suffered by many fully-actuated UAV designs. The strategies are
lightweight, simple, and allow rapid integration of the available tools with
these new vehicles for the fast development of new real-world applications.
  The real experiments on our robots and simulations on several UAV
architectures with different underlying controller methods show how these
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 our proposed methods to showcase an example flight
controller for underactuated multirotors that can be modified to seamlessly
support fully-actuated vehicles while retaining the rest of the flight stack
unchanged.
