[solved] which controller used for velocity setpoint?

Firmware/software/electronics/mechanics
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wydmynd
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Posts: 45
Joined: Thu Dec 06, 2018 9:25 am

[solved] which controller used for velocity setpoint?

Post by wydmynd »

hello
I want to make small adjustment to thrust calculation.
not sure which controller is in active in case of velocity setpoint :
position_controller_pid.c (velocityController function)
controller_pid.c
or something else?
thanks!
Last edited by wydmynd on Mon Feb 03, 2020 8:50 am, edited 1 time in total.

arnaud
Bitcraze
Posts: 2275
Joined: Tue Feb 06, 2007 12:36 pm

Re: which controller used for velocity setpoint?

Post by arnaud »

When using the PID controller, the velocity setpoints are handled in position_controller_pid.c to calculate acceleration setpoints: https://github.com/bitcraze/crazyflie-f ... pid.c#L196. The acceleration setpoints are then handled in controller_pid.c.

wydmynd
Member
Posts: 45
Joined: Thu Dec 06, 2018 9:25 am

Re: [solved] which controller used for velocity setpoint?

Post by wydmynd »

thanks
it would be so great if there was some flow chart , I spent alot of time trying to reverse engineer the flow from commander->controller , estimator->stabilizer , etc. for various sensor readings or control modes

kristoffer
Bitcraze
Posts: 285
Joined: Tue Jun 30, 2015 7:47 am

Re: [solved] which controller used for velocity setpoint?

Post by kristoffer »

Thanks for the feedback!
We are actually working on improving the documentation the coming weeks, hopefully this will be included.

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