Using Mellinger Controller in crazyflie_ros

Discussions about autonomous flight in general, regardless of positioning method
Post Reply
tango
Beginner
Posts: 2
Joined: Mon Oct 29, 2018 4:38 am

Using Mellinger Controller in crazyflie_ros

Post by tango » Wed Nov 07, 2018 10:23 pm

Hello guys,

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!

whoenig
Expert
Posts: 283
Joined: Mon Oct 27, 2014 2:55 am

Re: Using Mellinger Controller in crazyflie_ros

Post by whoenig » Thu Nov 08, 2018 2:48 am

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.

Post Reply