Code for Individual motor control

[nrg0004]

I understand that we can give the thrust desired, roll desired, pith desired and yaw desired. The firmware has code so that it will control the individual motors so that the IMU tries to reads the desired values and the barometer reads a height value (corresponding to the thrust).

But My question is where inside the firmware (in which program), is the logic that manipulates the desired orientation values to the motor speeds. Can someone point me which C program I should look into. I would greatly appreciate if they could point me to the actual logic written in the code.

Thank you.

[Slaxx]

I think what you are looking for is here:
https://github.com/bitcraze/crazyflie-f ... abilizer.c

and the functions are here:
https://github.com/bitcraze/crazyflie-f ... ors_f405.c

[nrg0004]

I have looked at those codes but still don't understand how the values we give are translated to something which the code understands. Can you pin-point the exact part of these programs I should look ?