Search found 11 matches
- Tue May 23, 2017 8:21 pm
- Forum: General discussions
- Topic: Add feedfroward term in position controller
- Replies: 2
- Views: 2476
Re: Add feedfroward term in position controller
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...
- Sun Apr 30, 2017 7:09 pm
- Forum: General discussions
- Topic: Question about controller for Crazyflie
- Replies: 2
- Views: 2391
Re: Question about controller for Crazyflie
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....
- Fri Apr 28, 2017 4:27 pm
- Forum: General discussions
- Topic: Add feedfroward term in position controller
- Replies: 2
- Views: 2476
Add feedfroward term in position controller
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...
- Thu Apr 27, 2017 3:21 pm
- Forum: Developer Discussions
- Topic: Crazyflie firmware pidctrl.c
- Replies: 2
- Views: 1818
Re: Crazyflie firmware pidctrl.c
Oh, that relieves my confusion since I really did not find where it is used. Thanks again for your reply.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
- Thu Apr 27, 2017 1:28 am
- Forum: Developer Discussions
- Topic: Crazyflie firmware pidctrl.c
- Replies: 2
- Views: 1818
Crazyflie firmware pidctrl.c
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...
- Tue Mar 14, 2017 4:10 am
- Forum: Developer Discussions
- Topic: Confused about the onboard controller
- Replies: 1
- Views: 1762
Confused about the onboard controller
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...
- Thu Feb 09, 2017 4:45 am
- Forum: Developer Discussions
- Topic: Vicon Control of CF 2.0
- Replies: 7
- Views: 6056
Re: Vicon Control of CF 2.0
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...
- Thu Feb 09, 2017 4:41 am
- Forum: Developer Discussions
- Topic: [SOLVED]CF client installation for Ubuntu 14.04
- Replies: 5
- Views: 4461
Re: CF client installation for Ubuntu 14.04
Hi Chad,chad wrote:You're welcome!! Happy to help you get flying.
Is CF client compatible with ubuntu 16.04? I've tried all the procedures while it fails to execute cfclient.
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- Thu Feb 09, 2017 4:24 am
- Forum: Developer Discussions
- Topic: New to Crazyflie, confused about ROS
- Replies: 6
- Views: 5820
Re: New to Crazyflie, confused about ROS
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...
- Tue Feb 07, 2017 11:43 pm
- Forum: Developer Discussions
- Topic: New to Crazyflie, confused about ROS
- Replies: 6
- Views: 5820
Re: New to Crazyflie, confused about ROS
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....