Replacing PID controller in position and velocity control

Discussions about autonomous flight in general, regardless of positioning method
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Horace20
Beginner
Posts: 2
Joined: Sun Apr 25, 2021 7:12 am

Replacing PID controller in position and velocity control

Post by Horace20 »

Hi, everyone! I just started to work on crazyflie platforms. I would like to replace the existing PID controllers in position and velocity control with a nonlinear controller that I developed. May I know how to disable the existing position and velocity control and create mine without messing up the whole control structure or compilation of the software? It would be very helpful if there is an example that I could refer to. Thank you!
kristoffer
Bitcraze
Posts: 630
Joined: Tue Jun 30, 2015 7:47 am

Re: Replacing PID controller in position and velocity control

Post by kristoffer »

Hi!

There is a mechanism in the firmware to plug in a new controller, see https://github.com/bitcraze/crazyflie-f ... .c#L22-L27

As far as I know there are unfortunately no example available. There is some documentation for how to add an estimator in https://www.bitcraze.io/documentation/r ... pment/oot/ which should be similar.
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