Standard commander.py library with mellinger controller

Firmware/software/electronics
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giandoman
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Posts: 36
Joined: Wed Sep 27, 2017 1:23 pm

Standard commander.py library with mellinger controller

Post by giandoman » Wed Nov 06, 2019 8:23 am

Hello everyone,
i was wondering if it possible to exploit the mellinger controller directly with the methods defined in the commander.py class defined here https://github.com/bitcraze/crazyflie-l ... mmander.py

Like in the position hl commander library where it is possible to switch the controller. https://github.com/bitcraze/crazyflie-l ... mmander.py

Thanks
Gianni



kristoffer
Bitcraze
Posts: 120
Joined: Tue Jun 30, 2015 7:47 am

Re: Standard commander.py library with mellinger controller

Post by kristoffer » Wed Dec 04, 2019 10:53 am

Sure, you switch to the Mellinger controller by setting the stabilizer.controller parameter to 2

Code: Select all

cf.param.set_value('stabilizer.controller', '2')
You can also check it out in the PositionHlCommander https://github.com/bitcraze/crazyflie-l ... #L286-L288

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