What controller is inside the quadcopters roll and pitch system?

Discussions about quadcopters/multi-rotors
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JamesClark
Beginner
Posts: 8
Joined: Mon Sep 27, 2021 8:21 am

What controller is inside the quadcopters roll and pitch system?

Post by JamesClark »

I have to model the roll pitch to control the x and y which is why I need to find out how the controlling works on roll and pitch.

I have found this GitHub code which states that it uses pi controller with kp=6 and ki=3. Is this correct?
kimberly
Bitcraze
Posts: 924
Joined: Fri Jul 06, 2018 11:13 am

Re: What controller is inside the quadcopters roll and pitch system?

Post by kimberly »

Hi! By default it's a cascaded PID controller for the attitude and attitude rate.

Please check out the documentation to point you in the right direction: https://www.bitcraze.io/documentation/r ... ntrollers/
JamesClark
Beginner
Posts: 8
Joined: Mon Sep 27, 2021 8:21 am

Re: What controller is inside the quadcopters roll and pitch system?

Post by JamesClark »

Hi thank you. I found the pid values for your own controller for moving xy plane.

I need the controller for moving a degree to another degree in roll for example.

SOrry I did not post the link but is this what In am referring : https://github.com/bitcraze/crazyflie-f ... face/pid.h
'
kimberly
Bitcraze
Posts: 924
Joined: Fri Jul 06, 2018 11:13 am

Re: What controller is inside the quadcopters roll and pitch system?

Post by kimberly »

Just follow the links in the documentation I send in the previous post. You should look for the attitude pid controller. This is the link of where you can find it: https://github.com/bitcraze/crazyflie-f ... ntroller.c
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