Bitcraze Forums

Hi guys.

I'm having a hard time to understand the code of Crazyflie firmware, but until now I haven't found the usage of pidctrl. I really cannot find where pidCtrlInit() is used? From the documentation of pidctrl.c, it says that it is used to receive/answer requests from client and to receive updated PID values from client. But it seems that there is nowhere that the pidCtrlInit() is used? Could anyone answer this for me.

Thanks in advance.

pidctrl.c is legacy. I created a issue about removing it. If you are looking for the attitude PID controller it is in controller_pid.c

tobias wrote:pidctrl.c is legacy. I created a issue about removing it. If you are looking for the attitude PID controller it is in controller_pid.c

Oh, that relieves my confusion since I really did not find where it is used. Thanks again for your reply.