You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: getController.m
    path of file: ./repos/hongbomiao.com/aerospace/quadcopter-pd-controller
    
    the code of the file until where you have to start completion: function [F, M] = getController(t, state, des_state, params)
    % Controller for the quadcopter
    %
    %   state: The current state of the robot with the following fields:
    %   state.pos = [x; y; z], state.vel = [x_dot; y_dot; z_dot],
    %   state.rot = [phi; theta; psi], state.omega = [p; q; r]
    %
    %   des_state: The desired states are:
    %   des_state.pos = [x; y; z], des_state.vel = [x_dot; y_dot; z_dot],
    %   des_state.acc = [x_ddot; y_ddot; z_ddot], des_state.yaw,
    %   des_state.yawdot
    %
    %   params: robot parameters

    % Gains
    Kd = [1; 1; 1];
    Kp = [100; 100; 800];
    Kd_ang = [1; 1; 1];
    Kp_ang = [160; 160; 160];

    grav = params.gravity;
    mass = params.mass;

    % Compute command accelerations
    cmd_accel = des_state.acc + Kd .* (des_state.vel - state.vel) + Kp .* (des_state.pos - state.pos);

    % Thrust

    
function [F, M] = getController(t, state, des_state, params)
    % Controller for the quadcopter
    %
    %   state: The current state of the robot with the following fields:
    %   state.pos = [x; y; z], state.vel = [x_dot; y_dot; z_dot],
    %   state.rot = [phi; theta; psi], state.omega = [p; q; r]
    %
    %   des_state: The desired states are:
    %   des_state.pos = [x; y; z], des_state.vel = [x_dot; y_dot; z_dot],
    %   des_state.acc = [x_ddot; y_ddot; z_ddot], des_state.yaw,
    %   des_state.yawdot
    %
    %   params: robot parameters

    % Gains
    Kd = [1; 1; 1];
    Kp = [100; 100; 800];
    Kd_ang = [1; 1; 1];
    Kp_ang = [160; 160; 160];

    grav = params.gravity;
    mass = params.mass;

    % Compute command accelerations
    cmd_accel = des_state.acc + Kd .* (des_state.vel - state.vel) + Kp .* (des_state.pos - state.pos);

    % Thrust
    F = mass * (grav + cmd_accel(3));
    F = min(max(F, params.minF), params.maxF);

    % Desired roll and pitch
    phi_des = (1 / grav) * (cmd_accel(1) * sin(des_state.yaw) - cmd_accel(2) * cos(des_state.yaw));
    theta_des = (1 / grav) * (cmd_accel(1) * cos(des_state.yaw) + cmd_accel(2) * sin(des_state.yaw));

    % Desired angle vector and angle rate vector
    rot_des = [phi_des; theta_des; des_state.yaw];
    omega_des = [0; 0; des_state.yawdot];

    % Moment
    M = Kp_ang .* (rot_des - state.rot) + Kd_ang .* (omega_des - state.omega);
end