whoenig/crazyflie_ros

On-board controller and EKF source code

Allenhanbo opened this issue · 2 comments

Allenhanbo commented

Hi Whoening, I was trying to use test_high_level.py and vicon to fly drone. You told me that this script is using the onboard controller. How can I access to the source code to see how the controller and EKF is designed? Thanks.

JIMMMY0 commented

Check the crazyflie firmware here.
You can find them in the crazyswarm repository also.

Allenhanbo commented

Hi Jimmyo, thanks for your reply. I have found the source code from the link you send to me. For the mellinger controller used in line 15 of test_high_level.py(https://github.com/whoenig/crazyflie_ros/blob/master/crazyflie_demo/scripts/test_high_level.py), I can find the source code in there https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/controller_mellinger.h

For the EKF used in test_high_level.py, could you tell me which file should I read through in the link you sent to me?

Thanks a lot.