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Hi guys!!

I have a really interesting question,
my question is if i can control everything (x, y, z, theta, phi, and yaw) in one Controller on ROS, like mellinger controller in firmware.

I want to know if it's possible, write a new control on crazyflie_ros that can control all the states of my crazyflie.

Thank you!!

Yeah sure, but you will need to deal with the delay that comes with the offboard controller. I don't know about the ROS side of things though but I can let you know how it works on the firmware (since it pretty much boils to the same thing).

It is true that the mellinger controller looks at all those states and errors, but all controllers on the CF firmware will output the basic roll pitch and yaw rate command in the control_t structure. If you receive all the state information through the logging framework and handle all the desired states form that, and output those rates, this should all be possible. There is a github issue about this explaining the need to set these commands directly for the exact same purpose that you describe: https://github.com/bitcraze/crazyflie-f ... issues/572. Please leave a comment there to express you're desire.

Hi Kimberly
Thank you for the answer

I can let you know how it works on the firmware (since it pretty much boils to the same thing)
.

Yes, I would like if you could help me, thank you very much.

There is a github issue about this explaining the need to set these commands directly for the exact same purpose that you describe: https://github.com/bitcraze/crazyflie-f ... issues/572. Please leave a comment there to express you're desire

Ok i will do it.

The python API explains how to set roll pitch yaw setpoints: https://www.bitcraze.io/documentation/r ... ython_api/ from the pythonscript

Soon we will add a functionality to do this for roll/pitch/yaw rate, which will be discussed in the link I send in the lats post

Thank you so much Kimberly!!!