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Crazyflie onboard position controller

Posted: Wed Jul 31, 2019 11:47 am
by harrrafa
Hello everyone,
I am trying to obtain aruco marker based position control by sending setpoint and ext pose to the crazyflie and want to play with the onboard position controller for higher stability. Is position_controller_pid.c in the firmware the default onboard position controller? Do I need to make any other edits in the firmware to choose to use it for position control?
Thank you.

Re: Crazyflie onboard position controller

Posted: Fri Aug 02, 2019 7:24 am
by kimberly

I haven't tried this myself but I know that here they tried to control a Crazyflie with aruco marker with a webcam in this blogpost ... -new-york/ , which is I guess the same principle of what you are mentioning. Here is the blog post about it, but it is quite old though so i'm not sure if it will work anymore, but can maybe provide some inspiration.

Another way is to play around with the crazyflie_ros package ( and see if you can have a work around with creating some ROS infrastructure with the aruco marker detection (like with ?). Then I think you probably do not need to change anything the firmware at all I believe.