Mode Switch and PID Tuning
Posted: Thu May 16, 2013 5:07 am
Hi everyone!
Loving my crazyflie here
Just a quick question for the people that have experience with the code:
Background:
I am currently trying to create a tutorial tune the PID settings. I have played around with the parameters in the PC client, and I definitely notice better performance.
Each crazyflie will have some deviation from the ideal settings, so it'll really help new fliers level-up faster.
Also, for when the pressure sensors become functional, having tuned PID settings will meant better altitude hold.
My setup:
I currently run my crazyflie using both a PS3 controller (USB and Bluetooth), and xBox 360 (wireless) on win 7 64-bit and the Xubuntu VM.
I have experience with the C/C++ code (firmware), but still have a lot to learn for the python side (Client).
Question:
Does anyone know the code/section of code in either the firmware or the client that can put the crazyflie into Rate and Attitude mode?
I know by default the crazyflie is put into attitude mode. I've made changes to the client using QT Designer on the VM, but I am not convinced that this is enough to set the crazyflie firmware to fly in rate mode.
I've checked the parameter outputs, and I think it will be useful to have one extra output to tell if it's rate or attitude mode (based on the PID controller implemented, attitude mode includes a rate controller ).
Perhaps we can even extend the client and allow people to change the flight mode using the controller pad
Hope to hear from you guys soon.
Ian
EDIT: Changed title to reflect information I am posting here =]
Loving my crazyflie here
Just a quick question for the people that have experience with the code:
Background:
I am currently trying to create a tutorial tune the PID settings. I have played around with the parameters in the PC client, and I definitely notice better performance.
Each crazyflie will have some deviation from the ideal settings, so it'll really help new fliers level-up faster.
Also, for when the pressure sensors become functional, having tuned PID settings will meant better altitude hold.
My setup:
I currently run my crazyflie using both a PS3 controller (USB and Bluetooth), and xBox 360 (wireless) on win 7 64-bit and the Xubuntu VM.
I have experience with the C/C++ code (firmware), but still have a lot to learn for the python side (Client).
Question:
Does anyone know the code/section of code in either the firmware or the client that can put the crazyflie into Rate and Attitude mode?
I know by default the crazyflie is put into attitude mode. I've made changes to the client using QT Designer on the VM, but I am not convinced that this is enough to set the crazyflie firmware to fly in rate mode.
I've checked the parameter outputs, and I think it will be useful to have one extra output to tell if it's rate or attitude mode (based on the PID controller implemented, attitude mode includes a rate controller ).
Perhaps we can even extend the client and allow people to change the flight mode using the controller pad
Hope to hear from you guys soon.
Ian
EDIT: Changed title to reflect information I am posting here =]