Bitcraze Forums

Hi,
I don't think so, because with the PID controller the logging has no problem.

Sorry, I've forgot the logger script, I leave it in attachments now.

Hi, I'm working on a script which simulates a fall with the Mellinger controller. Here the code: if __name__ == '__main__': cflib.crtp.init_drivers(enable_debug_driver=False) crazyf = Crazyflie(rw_cache='./cache') crazyf.param.set_value('kalman.resetEstimation', '1') time.sleep(0.5) crazyf.param.set...

Yes, I've read, thanks.
But maybe, the problem is not only the yaw. As I wrote, also the roll setpoint is decoded in different ways by pid and Mellinger.
Is this correct? Have you tested it?

Of course: with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf: crazyf = scf.cf crazyf.param.set_value('stabilizer.controller', '2') cf_M = position_hl_commander.PositionHlCommander(crazyf, controller=2) h_in = 1.3 cf_M.take_off(h_in) for i in range(10): crazyf.commander.send_zdistance_...

Hi, I was using the Mellinger controller and I notice that with the command "send_zdistance_setpoint(0, 0, 0, 1)" of the commander class, the crazyflie has a rotation around z (yaw-rate different from 0). How is this possible? Has the Mellinger a different reference for the yaw-rate? I hav...

Hi, I read all the codes and the controllers seem to have the same set point value. Probably, I 've thought that the difference is in the reference systems. Could be possible that the Mellinger receives setpoint in the world reference and not in the body reference? If yes, I could multiply the value...

Hi, I was doing several attemps trying the two controllers with the method "send_zdistance_setpoint". I notice that probably they process the data in different ways. If I write 0 on the third parameter (yaw-rate) the Mellinger begins to rotate, while the pid no. The same for the roll setpo...

Thanks, but I don't understand which class the client uses. Do your autonmouse_sequence_high_level.py script and the client use the same library? If yes, which? Because I would try the library that the client uses (when I click takeoff) with a script, but the problem is that I don't know which class...

I've already done several attempts. Using the client, I'm able to takeoff with the Mellinger controller. I set '2' on the parameter stabilizer.controller and then I click "Take off" from the "Command Based Flight Control" window. No problem, it works very well. Also to land of co...

Yes, I knew this.. maybe I didn't ask the right question, sorry. The question is: Can I use different controllers, besides the PID, with only the flow deck 2? If yes, how can I do? Does the Mellinger could have problems with the position? Unfortunately I don't have a positioning system, like mocap o...