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!
[solved] which controller used for velocity setpoint?
[solved] which controller used for velocity setpoint?
Last edited by wydmynd on Mon Feb 03, 2020 8:50 am, edited 1 time in total.
Re: which controller used for velocity setpoint?
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.
Re: [solved] which controller used for velocity setpoint?
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
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
-
- Bitcraze
- Posts: 630
- Joined: Tue Jun 30, 2015 7:47 am
Re: [solved] which controller used for velocity setpoint?
Thanks for the feedback!
We are actually working on improving the documentation the coming weeks, hopefully this will be included.
We are actually working on improving the documentation the coming weeks, hopefully this will be included.