Bitcraze Forums

Thanks for the reply kristoffer! I think I got a bit of a handle on 2 now, but I haven't tested it on the quad yet. What seems to be happening is in power_distribution_stock.c, equation (2) in the Mellinger paper is being inverted on lines 79-82. However, the coefficients on u_1, ... u_4 from the in...

I wanted to give this a bump and an update on what I've learned since my original post. With regards to (1), most of these seem like kinds of failure modes, and I've decided to ignore them in my implementation for now since they seem to not be triggered when I switch to my controller in my tests. Co...

Hi all! I mentioned in a previous post that I'm playing around with the Crazyflie 2.1 for use in an educational setting. For one of the assignments, we want the students to implement an LQR controller to stabilize the quadrotor about the hover state. Since we want to limit the class to primarily be ...

To get lower level access to the motors you can have a look at this paper . On page 80+ he creates his own crtp packets to control each motor separately. I'v never tried it though. EDIT: on second thought, he's probably using a custom firmware to decode those packets. you can use these parameters t...

I'm currently evaluating a few different robotics platforms for use in an introductory robotics course. The Crazyflie is very appealing since the API seems nice and it sits at a good price point. My main concern is that, as part of the course, we would like the students to implement their own contro...