Some small questions about "Mellinger " controller

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Ruocheng
Beginner
Posts: 14
Joined: Fri Dec 25, 2020 3:10 pm

Some small questions about "Mellinger " controller

Post by Ruocheng »

Hi!
Recently I'm using Mellinger controller in crazyflie_ros. I published the cmd_fullstate(position, velocity, acceleration) and make the crazyflie tracking the given trajectory. The result is excellent, but I still have some problems..
(1) what if I don't publish the fullstate when using Mellinger controller? For example, just pub position or velocity? Whether or not the Mellinger controller must combine with the fullstate?
Thanks a lot!
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This is a snapshot during the experiment.
kristoffer
Bitcraze
Posts: 518
Joined: Tue Jun 30, 2015 7:47 am

Re: Some small questions about "Mellinger " controller

Post by kristoffer »

Hi!

The ROS driver and the Mellinger controller were contributed by the people at Crazyswarm, you might get a better answer if you post this question there instead?
Ruocheng
Beginner
Posts: 14
Joined: Fri Dec 25, 2020 3:10 pm

Re: Some small questions about "Mellinger " controller

Post by Ruocheng »

Hi
Thanks for your reply! I'll do it!
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