Bitcraze Forums

It is part of the current master firmware (https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/controller_mellinger.c) and can be activated by setting the parameter "stabilizer.controller" to 2 (https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/...

We used a non-linear controller made by Mike Hamer that has unfortunately never been merged into the master branch, I link to the controller in one of my previous post. We now have a nice architecture to support multiple controller in the Crazyflie so if anyone is interested in porting Mike's contr...