Bitcraze Forums

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!

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.