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Update Stabilizer (PID loop) authored by Colton Glick's avatar Colton Glick
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Crazyflie-Firmware/Stabilizer-(PID-loop).md
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......@@ -15,7 +15,7 @@ NOTE: Control output then gets passed to the power distribution module (power_di
The setpoint is a struct that is holds the "goal" orientation of the quad. The setpoint struct is defined in [/src/modules/interface/stabilizer_types](https://git.ece.iastate.edu/danc/MicroCART/-/blob/master/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h#L183)
```C++
```c
typedef struct setpoint_s {
uint32_t timestamp;
......@@ -96,7 +96,7 @@ The controller will use the values given by `setpoint.attitudeRate`. This mode i
# State Structure
The state structure holds the current measurements of the Crazyflie such as the attitude, position velocity, and acceleration. in our case we will only be using the attitude as the current values that are used in PID equations. The state struct is defined in [/src/modules/interface/stabilizer_types]
The state structure holds the current measurements of the Crazyflie such as the attitude, position velocity, and acceleration. in our case we will only be using the attitude as the current values that are used in PID equations. The state struct is defined in [/src/modules/interface/stabilizer_types](https://git.ece.iastate.edu/danc/MicroCART/-/blob/master/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h#L162)
```c
typedef struct state_s {
......@@ -114,7 +114,7 @@ This struct gets updated by the state estimator which takes information from the
# Control Structure
The control struct takes the output of the PID equations. This includes the roll, pitch, yaw, and acceleration however we will only use the first three. This will then set the Crazyflie to these updated values. The control struct is defined in [/src/modules/interface/stabilizer_types]
The control struct takes the output of the PID equations. This includes the roll, pitch, yaw, and acceleration however we will only use the first three. This will then set the Crazyflie to these updated values. The control struct is defined in [/src/modules/interface/stabilizer_types](https://git.ece.iastate.edu/danc/MicroCART/-/blob/master/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h#L170)
```c
typedef struct control_s {
......@@ -129,7 +129,7 @@ typedef struct control_s {
# Sensor Data Structure
The sensor data structure contains the raw data from the Crazyflie sensors, these sensors include a barometer, accelerometer, gyroscope, and magnetometer. We are only interested in the gyroscope which is used to calculate the PID attitude rates. The sensor data struct is defined in [/src/modules/interface/stabilizer_types]
The sensor data structure contains the raw data from the Crazyflie sensors, these sensors include a barometer, accelerometer, gyroscope, and magnetometer. We are only interested in the gyroscope which is used to calculate the PID attitude rates. The sensor data struct is defined in [/src/modules/interface/stabilizer_types](https://git.ece.iastate.edu/danc/MicroCART/-/blob/master/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h#L150)
```c
typedef struct sensorData_s {
......
......