I've recently started working with crazyflie using the ROS package developed by Wolfgang. I've tested out the hover function successfully and now looking to perform trajectory tracking using Mellinger Controller developed by Wolfgang et al. I'm not sure how to invoke the controller in the controller.cpp file. Can someone point me in the right direction? Thanks!
Discussions about autonomous flight in general, regardless of positioning method
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You can set the parameter "stabilizer.controller" to 2, which enables the mellinger controller on newer firmwares. To test it with crazyflie_ros, take a look at https://github.com/whoenig/crazyflie_ros/issues/112.