Hi all,
I designed a morphing quad-rotor. However, this morph leads to the relative rotation between four rotor and flight controller,which means the quad-rotor is no longer symmetrical any more. So in order to keep its flight stable, I think I need to modify the parameter of each rotor position, but I can not find where I can modify the code related to the geometry change.
It seems 'crazyflie-firmware-master/src/utils/src/lighthouse/lighthouse_geometry.c' file includes some information about the flight controller, but I can not find the information about the airframe.
I have tried to tune PID or modify power distribution, but they both did not work when morphed, would you like some thoughts on this issue -- I'm pretty pretty thankful.
It has been a long process of trial...any advice or comment are welcome!
Na
Where I can modify the code for an asymmetry quad-rotor
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Re: Where I can modify the code for an asymmetry quad-rotor
Hi Na,
THat sounds like an awesome platform . It seems like you were on the right path with changing the power distribution (power_distribution_stock.c), that could be the easiest solution. The next step could be to define your own motor mapping, but to be honest I don't have that much experience with that. Probably Tobias would be able to help you further but he's on a holiday this week, so I will mention this to him once he's back.
THat sounds like an awesome platform . It seems like you were on the right path with changing the power distribution (power_distribution_stock.c), that could be the easiest solution. The next step could be to define your own motor mapping, but to be honest I don't have that much experience with that. Probably Tobias would be able to help you further but he's on a holiday this week, so I will mention this to him once he's back.
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- Beginner
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- Joined: Fri May 31, 2019 7:22 pm
Re: Where I can modify the code for an asymmetry quad-rotor
Hi Kimberly,
Thank you for your timely response, and I like this forum .
I will keep following this post and hope to get advice from your team.
Na
Thank you for your timely response, and I like this forum .
I will keep following this post and hope to get advice from your team.
Na
Re: Where I can modify the code for an asymmetry quad-rotor
Kimberly is on the right track. You will have to create a function in power_distribution_stock.c (or a new file) that distributes the power according to your geometry.
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Re: Where I can modify the code for an asymmetry quad-rotor
Hi Tobias,
Thank you for your confirmation, which gave me a lot great confidence to continue this path.
Go on testing...
Na
Thank you for your confirmation, which gave me a lot great confidence to continue this path.
Go on testing...
Na