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Query regarding controller implementation with accelerometer values
Posted: Wed Apr 22, 2020 10:51 pm
by imranmomtaz
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.
Re: Query regarding controller implementation with accelerometer values
Posted: Thu Apr 23, 2020 10:56 am
by kimberly
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.