Where can I find the control algorithm file about bebops HOT 13 CLOSED

Thank you for your reply i try it and will reply you.

from bebops.

I don't know if I got well your question. However, in the Wiki is the link to the paper linked to this work. As for the controller, it is available in the src folder of the repo.

from bebops.

Hi @octopusF! Can I close this issue?

from bebops.

Hi @gsilano I wanna test my algorithm that is written in .py
How can i replace the algorithm to check mine for the same drone?

from bebops.

What would you like to test? The controller?

from bebops.

What would you like to test? The controller?

i want to test my algorithm.
Actually i wanna replace my control algorithm with yours, just to ensure that i am working on a right track

from bebops.

is it controller_bebop.yaml ?

from bebops.

Okay, I get it. Here are the steps to make it work with the simulator:

1. Put your controller in the src\library folder.
2. Work with a copy or modify the position_controller_node.cpp file, and the relative heading file (position_controller_node.h), to work with the new controller algorithm (your controller).
3. Edit the CMakeLists.txt file to work with the new setup. I don't think it is necessary to change anything since your code is written in Python, but it would be better to check if it fits with your controller.

from bebops.

Sorry, i found the node. that is not in src\library rather it is in src\nodes
But to change the controller we don't need to deal with node isn't it?
It's okay to just change position_controller_with_bebop.cpp with relevant algorithm. Am I Right?

from bebops.

I updated my previous message and deleted others to improve the readability of the issue. The controller algorithms are in the libray folder, while the node (it can use various control algorithms, look at this repository to understand what I mean) is in the nodes folder. You can understand more about the software architecture by reading these publications.
I hope this helps.

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Sorry to bother you so much @gsilano . but don't you think the above discussion was about BebopS rather than CrazyS.
I am saying this because this repository leads to the discussion about CrazyS. I am sorry but please guide me if i am wrong in this regard.

from bebops.

Ok, let's start from the beginning. Your question was: how I can insert my control algorithm in BebopS? It is written in Python.
To use your control algorithm, you have to create an interface with the existing nodes. At this time, the nodes use the scripts contained in the library folder. To help you understand how to connect various control algorithms with a single node, I suggested you to take a look at CrazyS. If you see the repository, especially the position_controller.cpp file you will find out how various control algorithms can run together. Then, it is just a matter of connecting yours.
Before running the script, you need to update the CMakeList.txt file.

I hope this helps.

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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

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