Integrate own flight controller in firmware

Firmware/software/electronics/mechanics
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kristoffer
Bitcraze
Posts: 630
Joined: Tue Jun 30, 2015 7:47 am

Re: Integrate own flight controller in firmware

Post by kristoffer »

Hi!

The main action is happening in https://github.com/bitcraze/crazyflie-f ... #L235-L297

This is probably where you want to poke around a bit :-)
NHR
Beginner
Posts: 1
Joined: Wed Nov 03, 2021 10:03 am

Re: Integrate own flight controller in firmware

Post by NHR »

Sorry to bring forth an old post.

I am working on something similar and are doing some modifications to the firmware to send angular acceleration and z-accelerations commands directly to the INDI controller. Trajectory is computed externally, through MPC.

I however often get lost in the code complexity. Does a UML diagram or something similar exist for the Crazyflie firmware? It would be an immense help.

Best regards
Nikolai - DTU
jonasdn
Expert
Posts: 132
Joined: Mon Mar 01, 2021 3:13 pm

Re: Integrate own flight controller in firmware

Post by jonasdn »

Hi Nikolai!

Unfortunately we do not have such a diagram. If you could write down here what you find most confusing maybe that could guide us towards better documentation.

Also, perhaps this lecture by Kimberly, done at EFPL, could guide you somewhat: https://www.youtube.com/watch?v=6s8i-nhPjt0

Regards
Jonas
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