Acceleration Setpoint Crazyflie Python Lib

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Nickle225
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Joined: Tue Feb 09, 2021 9:27 am

Acceleration Setpoint Crazyflie Python Lib

Post by Nickle225 »

Hi All,

I am going to be using the Crazyflie python library for a project. I am wondering if it is possible to send the quad-copter x,y,z acceleration set-points. I know this is possible for position and velocity, but I cannot find any documentation on acceleration.

For clarity, we will be using the loco positioning system for localization.

Please let me know if this is possible, and which functions I should be using to achieve it. If there is no in-built function, could you please point me in the right direction in terms of how to implement it myself.

Thanks for your help,
Nicholas
arnaud
Bitcraze
Posts: 2431
Joined: Tue Feb 06, 2007 12:36 pm

Re: Acceleration Setpoint Crazyflie Python Lib

Post by arnaud »

Hi,

There is no commander packet implemented yet to control only the acceleration. Though, the commander subsystem is quite flexible so it should not be too hard to add.

The commander packets are declared there in the firmware: https://github.com/bitcraze/crazyflie-f ... eric.c#L39 and an equivalent function for each packets is present in the lib: https://github.com/bitcraze/crazyflie-l ... der.py#L83
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