Bitcraze Forums

Hi I have a question regarding crazyswarm. I installed crazyswarm on linux for simulation only, which works totally fine. I wish to change the firmware (controller.c stabilizer.c etc) and simulate how my own implemted controller would work. To see if I can simulate the changes in firmware I set the ...

Thank you very much!

I am planning to write my own LQR controller (onboard) from setpoints to motor power distributions. For this I will make changes to the firmware. I want to do this using position and attitude data from a VICON motion capture system. Can I neglect the gyroscope and observer and only make use of the d...

Ah I see, I will do it onboard then. Thank you very much

Thank you very much!

Well it makes sense to me to do it onboard, I don't see a practical alternative. Do you think it's possible to do it offboard?

I would like to implement my own controllers such as an LQR controller. Is this possible? Can I directly control the voltage sent to the motors or the motor speeds? Is there a way to 'turn off' the already implemented PID controllers and replace that with something of my own?