Input Values for Command

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Slaxx
Member
Posts: 86
Joined: Tue Mar 03, 2015 11:19 am
Location: Switzerland

Input Values for Command

Post by Slaxx »

What are the units (deg/rad?) and limits that can be put in the python send_setpoint function?
arnaud
Bitcraze
Posts: 2300
Joined: Tue Feb 06, 2007 12:36 pm

Re: Input Values for Command

Post by arnaud »

Hi,

Pitch/roll is absolute values in degree.
Yaw is degree/seconds.
Thrust is a 16bit value of the mean PWM thrust applied to the motors (0 is 0%, 65535 is 100%).

As for the limit, the thrust is limited to 60000, pitch roll yaw are not limited but the max yaw rate is around 600degree/seconds (there is still a bug in the firmware that makes the Crazyflie spin out of control it the yaw rate is set too high).
Calvin Chua
Beginner
Posts: 22
Joined: Sun Mar 01, 2020 1:28 am

Re: Input Values for Command

Post by Calvin Chua »

Hi Arnaud,

Regarding this question, what is the relationship between thrust in Newton to the 16 bits number? Is it linear or there is a math formula that maps it
arnaud
Bitcraze
Posts: 2300
Joined: Tue Feb 06, 2007 12:36 pm

Re: Input Values for Command

Post by arnaud »

Hi,

the 16bit number to RPM is fairly linear (since this is a DC motor and the bit number represents the voltage). However the thrust is not linear with the RPM.

We have made an investigation about that a while ago: https://wiki.bitcraze.io/misc:investigations:thrust, in it we did devise some formula to calculate the thrust from the motor voltage.
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