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Re: Integrate own flight controller in firmware
Posted: Wed Oct 13, 2021 7:41 am
by kristoffer
Hi!
The main action is happening in
https://github.com/bitcraze/crazyflie-f ... #L235-L297
This is probably where you want to poke around a bit
Re: Integrate own flight controller in firmware
Posted: Wed Nov 03, 2021 10:23 am
by NHR
Sorry to bring forth an old post.
I am working on something similar and are doing some modifications to the firmware to send angular acceleration and z-accelerations commands directly to the INDI controller. Trajectory is computed externally, through MPC.
I however often get lost in the code complexity. Does a UML diagram or something similar exist for the Crazyflie firmware? It would be an immense help.
Best regards
Nikolai - DTU
Re: Integrate own flight controller in firmware
Posted: Thu Nov 04, 2021 6:07 am
by jonasdn
Hi Nikolai!
Unfortunately we do not have such a diagram. If you could write down here what you find most confusing maybe that could guide us towards better documentation.
Also, perhaps this lecture by Kimberly, done at EFPL, could guide you somewhat:
https://www.youtube.com/watch?v=6s8i-nhPjt0
Regards
Jonas