Acceleration Setpoint Crazyflie Python Lib

[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]

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