AttitudeController frequency vs RateController frequency
Posted: Wed Feb 12, 2020 11:32 pm
For a cascaded PID controller, the update frequency of the inner loop is generally kept as twice that of the outer loop.
Referring to the crazyflie-firmware (https://github.com/bitcraze/crazyflie-firmware), I found out that in the PID controller update loop, a single condition controls the update of both the attitude and the rate controller.
How is the rate controller running at twice the frequency of the attitude controller?
I have opened an issue regarding this in the crazyflie-firmware repository as well:
https://github.com/bitcraze/crazyflie-f ... issues/552
Referring to the crazyflie-firmware (https://github.com/bitcraze/crazyflie-firmware), I found out that in the PID controller update loop, a single condition controls the update of both the attitude and the rate controller.
How is the rate controller running at twice the frequency of the attitude controller?
I have opened an issue regarding this in the crazyflie-firmware repository as well:
https://github.com/bitcraze/crazyflie-f ... issues/552