Mathematical description of CF 2.0

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simonjohansson
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Mathematical description of CF 2.0

Post by simonjohansson » Fri May 11, 2018 11:03 am

Hi!

I am working with the crazyflie 2.0 as my bachelor project. I am working with the position PIDs that is used in the example script autonomousSequence.py with the loco position system. I am trying to regulate the parameters by experimental methods but I am wondering if there is any mathematical descriptions for the system available? I would like to have the transfer functions for the system in x,y and z direction to do an analytical comparison if that is possible.

Best reagards
Simon J

whoenig
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Re: Mathematical description of CF 2.0

Post by whoenig » Fri May 11, 2018 6:39 pm

The system identification of the Crazyflie 2.0 has been a BA thesis at ETH Zurich. You can find a copy of the thesis here: http://mikehamer.info/assets/papers/Cra ... elling.pdf

simonjohansson
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Re: Mathematical description of CF 2.0

Post by simonjohansson » Sun May 13, 2018 10:25 am

Thanks for the answer!

/Simon

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