How can I change controler in test_high_lecel.py

[Allenhanbo]

Hi, all. Recently, I am doing autonomously using vicon. For now, I can use the launch file: external_position_vicon.launch and script: test_high_level.py to fly a "figure 8". I see in test_high_level.py, there's a line wrtten as:
"cf.setParam("stabilizer/controller", 0) # Use mellinger controller"

I think this line is the controller setting. I would like to use another controller onboard, like PID controller. How can I change to another controller? Where can I see which type controller can I choose?
Thanks a lot!

[whoenig]

A list of controllers is in the firmware: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/controller.h#L31-L36. 1 Should be PID and 2 is mellinger.