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Okey, the LQ controller will probably not be a lot more computationally heavy than a PID, i'm more worried about the efficiency of our code...

Anyways, thank you very much for the help

Thank you! Yes it could become quite a large project, we definitely have the necessary skills in control theory and sensor fusion to do this but we are somewhat lacking in c programming. It would therefore be very useful to avoid coding it all from scratch. We were thinking about simply replacing th...

Hi! I am looking to implement my own PID control scheme for the crazyflie for a school project. Preferably i would like to do this using c code since that is what is taught in class. I have looked through the firmware code but its a bit overwhelming, any recommendations on how to start? Thanks /Johan