I am working with the crazyflie and want to use nmpc instead of Position controller and Velocity controller. Due to the lang computation times I intend to implement nmpc operations on the computer and then send the control commanders(roll, pitch, yaw and thrust) into crazyflie. With the help of function send_position(roll, pitch, yaw and thrust) I can complete this function. But I still have some questions.
1. I dont know weather the commanders(roll,pitch and ) will directly sended to the setpoint in crazyflie.If not, what should I do to achieve it ?
https://github.com/bitcraze/crazyflie-f ... ller_pid.c
void controllerPid(control_t *control, setpoint_t *setpoint , const sensorData_t *sensors, const state_t *state, const uint32_t tick)
2. In https://github.com/bitcraze/crazyflie-f ... der_rpyt.c, in oder to send the angle, should I make all these parameter into 0?
Code: Select all
PARAM_ADD(PARAM_UINT8, althold, &altHoldMode) PARAM_ADD(PARAM_UINT8, poshold, &posHoldMode) PARAM_ADD(PARAM_UINT8, posSet, &posSetMode)