rewrite the firmware to change the control law

Discussions about all things Bitcraze
Post Reply
Sota
Beginner
Posts: 2
Joined: Fri Nov 12, 2021 4:43 am

rewrite the firmware to change the control law

Post by Sota »

I want to rewrite the firmware to change the control law.

I know how to modify the source code , how to build it and finally download and flash it to my Crazyflie.(I read this. https://www.bitcraze.io/documentation/t ... velopment/ )

I want to write my own code and change the behaviour of my Crazyflie.
But, I can't understand which files exactly I should modify.

I use Crazyswarm platform and get position measurements from motion capture systems(OptiTrack).

Thank you very much for your guidance and patience!
jonasdn
Expert
Posts: 116
Joined: Mon Mar 01, 2021 3:13 pm

Re: rewrite the firmware to change the control law

Post by jonasdn »

Hi!

There is no quick answer to this, perhaps you could start by watching the excellent intro by Kimberly on Youtube:

Part1: https://www.youtube.com/watch?v=jY-SLP3WWl0

Part2: https://www.youtube.com/watch?v=BXjSgCwb_bM
Sota
Beginner
Posts: 2
Joined: Fri Nov 12, 2021 4:43 am

Re: rewrite the firmware to change the control law

Post by Sota »

Hi!

Sorry for the late reply.
Thanks for your help!

Three days ago, the following article was written with an idea of how to approach this problem.

https://www.bitcraze.io/category/crazyflie/

I'll try to do this as a reference too.
Post Reply