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Input Values for Command
Posted: Mon Mar 23, 2015 9:45 am
by Slaxx
What are the units (deg/rad?) and limits that can be put in the python send_setpoint function?
Re: Input Values for Command
Posted: Mon Mar 23, 2015 10:40 am
by arnaud
Hi,
Pitch/roll is absolute values in degree.
Yaw is degree/seconds.
Thrust is a 16bit value of the mean PWM thrust applied to the motors (0 is 0%, 65535 is 100%).
As for the limit, the thrust is limited to 60000, pitch roll yaw are not limited but the max yaw rate is around 600degree/seconds (there is still a bug in the firmware that makes the Crazyflie spin out of control it the yaw rate is set too high).
Re: Input Values for Command
Posted: Sun Sep 06, 2020 7:13 am
by Calvin Chua
Hi Arnaud,
Regarding this question, what is the relationship between thrust in Newton to the 16 bits number? Is it linear or there is a math formula that maps it
Re: Input Values for Command
Posted: Thu Sep 10, 2020 8:36 am
by arnaud
Hi,
the 16bit number to RPM is fairly linear (since this is a DC motor and the bit number represents the voltage). However the thrust is not linear with the RPM.
We have made an investigation about that a while ago:
https://wiki.bitcraze.io/misc:investigations:thrust, in it we did devise some formula to calculate the thrust from the motor voltage.