PID data conversion
Posted: Wed Dec 05, 2018 6:24 pm
Hello Everyone,
I am trying to study crazyflie firmware and more specifically, the PID inner loop which is "Rate_PID", I understand it depends on the the angular velocities generated from the gyrometer after they are multiplied by the rotation matrix to have the world frame values.
My questions are:
1- I dont understand how the system make use of the the modified values of the three axis angular velocities generated from the RATE_PID, and convert them back to PWM waves fed to the 4 motors. I mean what kind of equations?
2- Would someone please point to which files the implementation of such conversion takes place, also for the rotation matrix multiplication part?
Thank you so much!
I am trying to study crazyflie firmware and more specifically, the PID inner loop which is "Rate_PID", I understand it depends on the the angular velocities generated from the gyrometer after they are multiplied by the rotation matrix to have the world frame values.
My questions are:
1- I dont understand how the system make use of the the modified values of the three axis angular velocities generated from the RATE_PID, and convert them back to PWM waves fed to the 4 motors. I mean what kind of equations?
2- Would someone please point to which files the implementation of such conversion takes place, also for the rotation matrix multiplication part?
Thank you so much!