Bitcraze Forums

Hi there,

I'm looking for the latest control architecture of the crazyflie 2.0 based on the pid and mellinger controllers. I haven't been able to find a block diagram clearly showing the design. The code is too cumbersome and difficult to understand. Does anyone have some good description of how things are set up?

Please let me know.
Thank you.

Hi,

This old blog post is still a good source for the high-level architecture of the stabilizer loop: https://www.bitcraze.io/2016/05/positio ... -firmware/. More functionality have been added since so the loop is not so clean anymore, but the principle is still the same.

For the controller, as far as I know, the PID has ever been documented with a diagram, of the two controller I would expect it to be the simpler to follow though. The Mellinger controller comes from research papers, it has been introduced as part of the Crazyswarm project. The Crazyswarm paper cite the source papers for the Mellinger controller that may be able to help: http://usc-actlab.github.io/publication ... RA2017.pdf.