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Crazyflie control and estimation loops frequency

Posted: Wed Aug 28, 2019 8:15 am
by sample
Hi everyone,

I just have a quick question about the frequency of the loops running on CF, documentation is not really helpful on this topic :) .
If my understanding is correct, the main loop is the stabilization loop, running on 1000Hz and coordinating between the estimator and controller. EKF estimator is providing state update at 100Hz. Controller is cascade position and attitude PID. I'm not sure at which frequency each of these controllers run?