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[solved] which controller used for velocity setpoint?
Posted: Sun Jan 05, 2020 2:33 pm
by wydmynd
hello
I want to make small adjustment to thrust calculation.
not sure which controller is in active in case of velocity setpoint :
position_controller_pid.c (velocityController function)
controller_pid.c
or something else?
thanks!
Re: which controller used for velocity setpoint?
Posted: Tue Jan 07, 2020 1:34 pm
by arnaud
When using the PID controller, the velocity setpoints are handled in position_controller_pid.c to calculate acceleration setpoints:
https://github.com/bitcraze/crazyflie-f ... pid.c#L196. The acceleration setpoints are then handled in controller_pid.c.
Re: [solved] which controller used for velocity setpoint?
Posted: Mon Feb 03, 2020 8:53 am
by wydmynd
thanks
it would be so great if there was some flow chart , I spent alot of time trying to reverse engineer the flow from commander->controller , estimator->stabilizer , etc. for various sensor readings or control modes
Re: [solved] which controller used for velocity setpoint?
Posted: Mon Feb 03, 2020 10:48 am
by kristoffer
Thanks for the feedback!
We are actually working on improving the documentation the coming weeks, hopefully this will be included.