incremental attitude control #1336
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adarsh2798
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Currently the closest that comes to this is doing RPYT rate control. That is bascially using the send_setpoint() and setting a parameters before that.
Other solutions is to setup a log callback on the attitude and combine that with the absolute attitude setpoint send perhaps. You can find instructions on how to do that in the cflib here: https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/user-guides/python_api/ |
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Hi,
I need to do incremental attitude control of crazyflie. Meaning, whatever attitude the crazyflie currently is in, from there I want it to do some$\Delta$ pitch, $\Delta$ roll maneuver. For example if crazyflie is at say 15deg pitch. From that attitude, i want it to do $\Delta$ pitch=2 degrees maneuver. After this maneuver the new pitch would be 17deg, but instead of sending the final pitch i want to send incremental commands every iteration.
What function shall I use in cflib for this?
Thanks!
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