Search found 11 matches

by fede_tiberti
Mon May 31, 2021 4:12 pm
Forum: Quadcopters
Topic: Mellinger and PID controllers (send_zdistance_setpoint)
Replies: 5
Views: 376

Re: Mellinger and PID controllers (send_zdistance_setpoint)

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?
by fede_tiberti
Fri May 28, 2021 7:54 am
Forum: Quadcopters
Topic: Mellinger references
Replies: 3
Views: 113

Re: Mellinger references

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_...
by fede_tiberti
Thu May 27, 2021 7:58 pm
Forum: Quadcopters
Topic: Mellinger references
Replies: 3
Views: 113

Mellinger references

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 have only the...
by fede_tiberti
Thu May 27, 2021 10:53 am
Forum: Quadcopters
Topic: Mellinger and PID controllers (send_zdistance_setpoint)
Replies: 5
Views: 376

Re: Mellinger and PID controllers (send_zdistance_setpoint)

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...
by fede_tiberti
Mon May 24, 2021 8:11 am
Forum: Quadcopters
Topic: Mellinger and PID controllers (send_zdistance_setpoint)
Replies: 5
Views: 376

Mellinger and PID controllers (send_zdistance_setpoint)

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 setpoint, a val...
by fede_tiberti
Tue May 11, 2021 1:52 pm
Forum: Quadcopters
Topic: Mellinger and PID controllers
Replies: 7
Views: 425

Re: Mellinger and PID controllers

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...
by fede_tiberti
Fri May 07, 2021 11:08 am
Forum: Quadcopters
Topic: Mellinger and PID controllers
Replies: 7
Views: 425

Re: Mellinger and PID controllers

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 course. But when I exe...
by fede_tiberti
Wed May 05, 2021 2:42 pm
Forum: Quadcopters
Topic: Mellinger and PID controllers
Replies: 7
Views: 425

Re: Mellinger and PID controllers

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...
by fede_tiberti
Tue May 04, 2021 12:31 pm
Forum: Quadcopters
Topic: Mellinger and PID controllers
Replies: 7
Views: 425

Mellinger and PID controllers

Hi, I have a crazyflie 2.0 with the flow deck 2.0... I would like to compare the two controllers with a simple script. Is it possible? I know that the problem with the Mellinger could be the position, but can I manage it in some ways? I have already installed the latest firmware version (2021.03) Th...
by fede_tiberti
Wed Apr 28, 2021 10:11 am
Forum: Quadcopters
Topic: Mellinger controller and high_level_commander class
Replies: 3
Views: 235

Re: Mellinger controller and high_level_commander class

So is the PID controller the only one that I can use effectively with the MotionCommander class (or simply commander class)?