How to understand the principles of Crazyflie working

Discussions and questions about the Crazyflie Nano Quadcopter
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HC766
Beginner
Posts: 17
Joined: Wed Oct 09, 2019 2:16 pm

How to understand the principles of Crazyflie working

Post by HC766 » Tue Oct 22, 2019 3:07 pm

Hi guys, I am new to the drone area. I would like to understand the principles of Crazyflie flying like the controller and some state estimation's source code. I found all the building source code are in there https://github.com/bitcraze/crazyflie-firmware. But it's to0 much for me. I would like to focus on the control and state estimation's part. Does anyone can send me the sepcific part of this? Thanks a lot!



arnaud
Bitcraze
Posts: 2275
Joined: Tue Feb 06, 2007 12:36 pm

Re: How to understand the principles of Crazyflie working

Post by arnaud » Wed Oct 23, 2019 9:33 am

Hi,

The core of the Crazyflie control happens in the stabilizer loop: https://github.com/bitcraze/crazyflie-f ... zer.c#L245 and generally speaking the control algorithms (sensor, estimator, controller, ...) are in the module source folder: https://github.com/bitcraze/crazyflie-f ... odules/src.

Unfortunatly there is no up-to-date high-level docuementation of the code architecture. The next best things is then to read the source code and to already have a basic understanding of how a quadrotor is controlled. For you a good starting point is the stabilizer loop.

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