Bitcraze Forums

Haha sorry. I know the other implementation is on the parrot Bebop. For what I can find know it seems to be a mix of filtering cutoff frequency and the inner loop gains, that cause some instability in the inner loop. Some other points, the consistency in units is a bit lacking. When the inner loop i...

Thanks! Ah you mean the control effectiveness parameters from the inner loop. Yes for my thesis my supervisor is Ewoud Smeur, thus I can ask anything I do not understand from the INDI to him. For the rest thanks for helping! The parameters used in the filtering of the angular acceleration need to be...

Hi Andre, Thanks for the response. What exactly do you mean with the calibration processes? Greetings Max Hi, Max. The INDI controller was implemented a while ago, and honestly we used it in only one application. This is only the second time someone reaches to talk about it, which is definitely a go...

Dear all, For my thesis I need to use the implemented INDI controller, both outer and inner loop. On the crazyflie 2.1 I have the flowdeck 2.1 and the multiranger attched. The only problem I experience is an unstable controller. For commanding the drone I use the python library with the following co...

Hi I have a question. I have calculated the thrust via the formula provided in the paper and the signal logging of pwm.m1_pwm (the motor pwm compensated for battery voltage). This is the blue line seen in the graph. The orange line is using the accelerometer data from the body z-axis and uses f=m*a ...

Thanks!!!

Yes I have the crazyflie 2.1.

Ah I see the explanation of the formula is few pages later (read past it, so was not sure what the formula meant).

No if this works I will not be needing it.

Thanks a lot for the quick answers it really helped me!

Greetings
Max

Thanks for the answer. What I need for my controller is the ratio between command applied (thrust command) and the actual measured thrust. For now I wanted to do this in the following manner. Using the accelerometer data (z-axis), and then using the simple relationship f=m*a to gather measured thrus...

Dear all, I am developing a controller based of the INDI such that the crazyflie will be able to fly close to the ceiling or other flight boundaries (For my MsC thesis). For this I now need an estimate of the thrust that will be produced under a certain PWM signal. What I now got is a logging script...

Thanks Whoenig.

This will definitely help. I know that the Crazyflie has some mapping from thrust to pwm. As I am now modeling some stuff in Simulink I can skip that step and just use rpm to thrust as mapping.

Hii everyone I have a small question. For my thesis work I am working on a simulink model for some testing and experimenting. Most of the dynamic models I find make use of the following method to determine thrust: T = k*w^2 (thrust equals constant times rpm squared). My question is the following, al...