Offboard position controller
Posted: Sat Jun 12, 2021 12:52 pm
Hello all,
Currently I got the task to implement an offboard PID controller for the crazyflie in ROS with the Lighthousesystem.
At the moment I am a bit confused where to start and what I need to do. So far I tried to work with crazyflie_ros (https://github.com/whoenig/crazyflie_ros). It is not for the Lighthousesystem , but I receive the stateEstimator and PoseStamped data.
Would it be the right way to use the /pose (which I recieve by enable_logging_pose)data and run it through a PID (on the Rasberry Pi) and send the desired pitch and roll back to the onbaord atitude-controller (via sentPoint)?
Is there a easy way or a need to disable the onboard postion-controller, so the atitudecontroller receive my offboard data ?
Kind regards
dpl
Currently I got the task to implement an offboard PID controller for the crazyflie in ROS with the Lighthousesystem.
At the moment I am a bit confused where to start and what I need to do. So far I tried to work with crazyflie_ros (https://github.com/whoenig/crazyflie_ros). It is not for the Lighthousesystem , but I receive the stateEstimator and PoseStamped data.
Would it be the right way to use the /pose (which I recieve by enable_logging_pose)data and run it through a PID (on the Rasberry Pi) and send the desired pitch and roll back to the onbaord atitude-controller (via sentPoint)?
Is there a easy way or a need to disable the onboard postion-controller, so the atitudecontroller receive my offboard data ?
Kind regards
dpl