Individual control of the motors on the crazyflie
Posted: Wed Nov 20, 2019 8:48 am
HI Bitcraze,
Me and my university group has decided to use the Crazyflie platform to show a conceptual approach to constructing control algorithms for z and x/y axis control through system identification and PID tuning.
However, we want to run all of our code off of an crazyflie, including the PID calculation, and do all the motor control ourselves.
What would be the best approach to using the PWM functionality along with logging of the Gyro and accelerometer ?
because so far we cant find heads and tails in the code other than the SyncCrazyflie library being used to connect to the crazyflie via the crazyradio ?
So we are a bit confused as to how we can update the PWM for each motor and send it to the crazyflie in "real time" (although we know that the crazyradio has a delay of 1-2 ms of course)
Best Regards,
Rasmus J.
Me and my university group has decided to use the Crazyflie platform to show a conceptual approach to constructing control algorithms for z and x/y axis control through system identification and PID tuning.
However, we want to run all of our code off of an crazyflie, including the PID calculation, and do all the motor control ourselves.
What would be the best approach to using the PWM functionality along with logging of the Gyro and accelerometer ?
because so far we cant find heads and tails in the code other than the SyncCrazyflie library being used to connect to the crazyflie via the crazyradio ?
So we are a bit confused as to how we can update the PWM for each motor and send it to the crazyflie in "real time" (although we know that the crazyradio has a delay of 1-2 ms of course)
Best Regards,
Rasmus J.