Improvements to the INDI controller implementation

bitcraze / 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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Improvements to the INDI controller implementation #573

Open knmcguire opened 4 years ago

knmcguire commented 4 years ago

[ ] More use of existing vector/matrix structures of the crazyflie firmware
[ ] Fully separating position and attitude controller (attitude is still too much integrated into controller_indi.c)
[ ] Documentation to explain how the controller works in practice (https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/controllers/)
[ ] Automatic tuning of the parameters

jpreiss commented 4 years ago

The Mellinger controller is also a cascaded design. It would be great to isolate the inner nonlinear attitude controller into a library function. I also have an implementation of the ETH Zürich quaternion-based attitude controller in https://github.com/jpreiss/libquadrotor that would be easy to add into a fully decoupled framework.