Query regarding controller implementation with accelerometer values

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imranmomtaz
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Posts: 25
Joined: Tue Mar 17, 2020 7:01 pm

Query regarding controller implementation with accelerometer values

Post by imranmomtaz » Wed Apr 22, 2020 10:51 pm

Hello,
Could anybody tell me if any controller in the CF use accelerometer values? If yes, which one is that and how can I select that in the CF system?
Thanks.



kimberly
Bitcraze
Posts: 314
Joined: Fri Jul 06, 2018 11:13 am

Re: Query regarding controller implementation with accelerometer values

Post by kimberly » Thu Apr 23, 2020 10:56 am

Hi!

The new INDI position controller seem to use the acceleration directly from the sensors (https://github.com/bitcraze/crazyflie-f ... ndi.c#L155). You can set the controller by setting the following parameters in a python script:

Code: Select all

    cf.param.set_value('stabilizer.controller', '3')
    cf.param.set_value('ctrlINDI.outerLoopActive', '1')
if outerLoopActive is set to 0, the position control loop is handled by a PID controller instead.

The INDI controller is very new and not a lot of people have used it before. If you see any problems, please comment in this github issue: https://github.com/bitcraze/crazyflie-f ... issues/573, so that we can take that into account with future improvements.

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