About Angle Rate Controller (Observer Design)

[doltae09]

Hello, I'm Sejong University's Student in South Korea. In out lab, we use the Crazyflie platform for many research. I am very thankful to your company for allowing us to do a lot of research.

I am designing rollRateNew (𝝓'_𝒏𝒆𝒘) from My method’s estimation data (Observer).

In this situation, I want to change from the original feedback data (rollRateActual) to My method’s estimation data(Observer).

How can I change original feedback data in firmware “controller_pid.c” or "attitude_pid_controller.c"??
Can you give me some information the change point?

[krichardsson]

Hi,
thanks for the kind words!

I think you probably want to dig in somewhere around here in controller_pid.c

It looks like the call to attitudeControllerCorrectRatePID() is doing the angle rate updates (when calling pidUpdate()) and thus running the "angle rate controller". The result from the angle rate controller is stored in the static variables rollOutput, pitchOutput and yawOutput that finally are read back using the attitudeControllerGetActuatorOutput() function.

(I think it is fair to say that there is room for improvements for this code...)

I'm not exactly sure where your data lives, but if it is in controller_pid.c I guess you can just add more arguments to attitudeControllerCorrectRatePID() to pass your data on.

I don't know if this answers your question?

[doltae09]

Thank you! krichardsson!
I can change the feedback data for Angle Rate feedback data!