Bitcraze Forums

I have no experience with feed-forward controllers but we have had quite good experience with the Mike's quaternion non-linear onboard controller (https://github.com/bitcraze/crazyflie-firmware/issues/136#issuecomment-263012358). It is quite robust and follows trajectory quite well, mostly when the...

Hi, Recently I'm reading this technical report about Crazyflie. I hope this could answer part of your questions. This technical report is great, it elaborates from the very beginning. If you are just getting started with Crazyflie, I think it would make some sense to you. https://arxiv.org/pdf/1608....

Hi, I have been using crazyflie_ros for a while, and I'm doing trajectory tracking now. I think about adding feedforward term in the position controller, i.e. offboard controller. What I did is added feedforward velocity and feedforward acceleration into the calculation of roll and pitch sent to onb...

tobias wrote:pidctrl.c is legacy. I created a issue about removing it. If you are looking for the attitude PID controller it is in controller_pid.c

Oh, that relieves my confusion since I really did not find where it is used. Thanks again for your reply.

Hi guys. I'm having a hard time to understand the code of Crazyflie firmware, but until now I haven't found the usage of pidctrl. I really cannot find where pidCtrlInit() is used? From the documentation of pidctrl.c, it says that it is used to receive/answer requests from client and to receive updat...

Hi guys, I am working with the CFs recently, I have installed crazyflie_ros to control the CF with optitrack. But when I want tot go further, I am really confused about the onboard controller. I think I have understood all the code about the ground controller, but I don't know how onborad controller...

Hi, Maybe you need to change the sign of one of the axis in your calculations. If you place the Crazyflie infront of you with the blue LED's closest to you and the front facing away (like in in this image ) the changes in axes are as follows: Roll is positive to the right Pitch is positive backward...

chad wrote:You're welcome!! Happy to help you get flying.

Hi Chad,

Is CF client compatible with ubuntu 16.04? I've tried all the procedures while it fails to execute cfclient.

Bin

Hi, Just a note about the python lib: we have recently fixed the support for more than one Crazyflie in the master branch (inspired by the way you share the radio in the ROS driver Wolfgang ;-)). There is a multiramp example: https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/mul...

Hi, I don't think that this project is going to be very easy. A few suggestions: a) Do it in simulation first, just to make sure your waypoint computation etc. is correct. An easy to-use simulator is V-REP (http://coppeliarobotics.com/). It has a generic Quadcopter model with a waypoint controller....