Bitcraze Forums

Hi there, I'm looking for the latest control architecture of the crazyflie 2.0 based on the pid and mellinger controllers. I haven't been able to find a block diagram clearly showing the design. The code is too cumbersome and difficult to understand. Does anyone have some good description of how thi...

Thanks for your response. What about the position_controller_pid? There is already a section at the bottom of the code related to thrust scale and feedforward term.

Hi there,

I'm trying to implement a feedforward controller for CF 2.0. Does anyone have any experience implementing one and can advise where to start? Thank you.

Hi there,

I'm trying to scale the commanded thrust to the motors as a function of height. However, I'm not sure how to implement such a function and where to add it in the code. Does anyone have some experience with this? Please let me know.

Thank you.