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bitcraze / crazyflie-simulation

MIT License
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Add support for PC Client GUI #42

Closed simondlevy closed 1 year ago

simondlevy commented 1 year ago

New controller crazyflie_controller_py_gui flies from game controller in hover mode, using firmward PID bindings

knmcguire commented 1 year ago

hi! I won't be able to review this this week but perhaps some question in between. I see that you've made a separate PID controller file, which should work as stand-alone. I think it is better to see if you can place it here then https://github.com/bitcraze/crazyflie-simulation/blob/main/controllers/python_based/pid_controller.py. In this folder, there are 'shared' PID controller helper files that can be reused in other simulators. That is where I've put the simple pid controller that I use for webots.

simondlevy commented 1 year ago

Thanks, good suggestion! The PID control code you're seeing is mostly obsolete stuff that I forgot to delete, but I agree that it makes sense to re-use as much of your existing control code as possible. I will need to keep the part of my controller that does the threaded communication with the GUI client, but I will attempt to use your helper files as you suggest. I'll close this PR and do another once I've got that working.