Bitcraze Forums

Hi,

Please, could you explain how the position and velocity setpoint are converted to roll, pitch and thrust?

https://github.com/bitcraze/crazyflie-f ... pid.c#L248

Thank you.

Yu-Hsiang

It is the same exact principle as what I explained in your thread about acceleration. The velocity in x in nonlinearly correlated with the pitch and the velocity in y is nonlinearly correlated to the roll angles

Please checkout this page for the controller explanation: https://www.bitcraze.io/documentation/r ... ntrollers/