Bitcraze Forums

Hi there,

I'm trying to scale the commanded thrust to the motors as a function of height. However, I'm not sure how to implement such a function and where to add it in the code. Does anyone have some experience with this? Please let me know.

Thank you.

The interesting part of the code for that is the stabilizer loop, it is the loop that runs the controllers and eventually controls the motors: https://github.com/bitcraze/crazyflie-f ... zer.c#L190. You can add a function there that modify the thrust in the control structure. One place to quickly hack would be to modify the power distribution directly: https://github.com/bitcraze/crazyflie-f ... on_stock.c.

Thanks for your response. What about the position_controller_pid? There is already a section at the bottom of the code related to thrust scale and feedforward term.

This is also a possibility, basically you want to affect the control structure, where to put the code is mode a question of where does it fit logically.

Without having more precision about what you want to achieve, I would think that if your code is PID-specific then adding it in the PID code makes sense, if it could work with any controller (like the Melinger controller), then I would think that calling a function in the stabilizer loop makes more sense.