Search found 6 matches

by Zafer
Tue May 10, 2022 7:00 pm
Forum: Developer Discussions
Topic: Crazyswarm simulation firmware
Replies: 1
Views: 283

Crazyswarm simulation firmware

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 ...
by Zafer
Tue May 03, 2022 8:46 am
Forum: External positioning systems
Topic: Control with VICON
Replies: 2
Views: 1981

Re: Control with VICON

Thank you very much!
by Zafer
Sun May 01, 2022 11:16 am
Forum: External positioning systems
Topic: Control with VICON
Replies: 2
Views: 1981

Control with VICON

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...
by Zafer
Fri Apr 29, 2022 7:54 am
Forum: General discussions
Topic: LQR controller
Replies: 4
Views: 399

Re: LQR controller

Ah I see, I will do it onboard then. Thank you very much
by Zafer
Wed Apr 27, 2022 3:01 pm
Forum: General discussions
Topic: LQR controller
Replies: 4
Views: 399

Re: LQR controller

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?
by Zafer
Wed Apr 27, 2022 7:53 am
Forum: General discussions
Topic: LQR controller
Replies: 4
Views: 399

LQR controller

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?