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Okay I got the commands through cf.commander.send_setpoint(). Now i need a way to prevent the cf from shutting down if the rates are too high or if the attitude is upside down. It's in a gimbal so I need it to be allowed to do these non-normal motions. Do I need to change the firmware or are there some parameters I can set to prevent this? |
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Hello,
I'm using crazyflie 2.x as a demo/lab course. The crazyflie is mounted in a 3-axis gimbal system therefore locked from translational motion but free for rotational motion. The course is a "drone controls" course and I'd like to be able to send step input commands as attitude commands either from a separate python script/gui while also being able to watch the log on the cfclient.
The plan would be to adjust PID gains and compare theoretical responses to actual responses. What would be the best approach here? Should I edit the cfclient software and add my own tab that allows for something like this? Or is it possible/easier for me to easily emulate a joystick controller and map commands?
Interested in your thoughts!
Thank You!
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