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crazyflie-firmware
The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.
GNU General Public License v3.0
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Improved PID documentation
#1387
Closed
gemenerik
closed
2 months ago
gemenerik
commented
3 months ago
Improved the explanation of the cascaded PID controller structure.
Clarified the role of each control level (position, velocity, attitude, attitude rate) in the PID hierarchy.
Detailed how different setpoints (not just position) activate corresponding PID controllers.
Clarified that the position controller does not generate attitude setpoints directly.
Clarified the function of the attitude rate controller, specifying that its output is not directly thrust.
Documented the PID modification introduced in
https://github.com/bitcraze/crazyflie-firmware/issues/1336
to prevent derivative kick.
Introduced a code comment regarding the prevention of derivative kick.