[solved] which controller used for velocity setpoint?

[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!

[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]

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]

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