Bitcraze Forums

I want to rewrite the firmware to change the control law.

I know how to modify the source code , how to build it and finally download and flash it to my Crazyflie.(I read this. https://www.bitcraze.io/documentation/t ... velopment/ )

I want to write my own code and change the behaviour of my Crazyflie.
But, I can't understand which files exactly I should modify.

I use Crazyswarm platform and get position measurements from motion capture systems(OptiTrack).

Thank you very much for your guidance and patience!

Hi!

There is no quick answer to this, perhaps you could start by watching the excellent intro by Kimberly on Youtube:

Part1: https://www.youtube.com/watch?v=jY-SLP3WWl0

Part2: https://www.youtube.com/watch?v=BXjSgCwb_bM

Hi!

Sorry for the late reply.
Thanks for your help!

Three days ago, the following article was written with an idea of how to approach this problem.

https://www.bitcraze.io/category/crazyflie/

I'll try to do this as a reference too.