A question about macro "RATE_DO_EXECUTE"

[linlin2017]

Hi developers,
I am reading source code of crazeflie 2.0, and I don't understand some code. For example, why we judge the macro "RATE_DO_EXECUTE()" in function stateController() ?
Thanks!

[tobias]

The stabilizer task runs at 1kHz but only the rate stabilization needs to run that fast. The attitude stabilization can run slower and the velocity stabilization even slower then that. So the RATE_DO_EXECUTE is just a divider of the update rate.

[linlin2017]

The stabilizer task runs at 1kHz but only the rate stabilization needs to run that fast. The attitude stabilization can run slower and the velocity stabilization even slower then that. So the RATE_DO_EXECUTE is just a divider of the update rate.

In your answer, does ' the rate stabilization' mean body angular velocity stabilization? Thank you.

[arnaud]

Yes, the rate stabilization is the body angle velocity stabilization.