Where are the crazyflie-specific system matrices A and B and additional information in the code?

[hedaniel7]

Thank you for sharing your very good research and code.

I am working on a drone practical at the Technical University of Munich using the Crazyflie 2.1:
https://github.com/AlboAlby00/CrazyflieControllers/tree/TinyMPC/crazyflie_controllers
(and your code is one of my last straws to make MPC work and save me before the deadline..)

I want to implement your code in a ROS2 node in a Webots simulation.

In your code you say:
https://github.com/TinyMPC/TinyMPC/blob/main/examples/quadrotor_hovering.cpp
// This script is just to show how to use the library, the data for this example is not tuned for our Crazyflie demo. Check the firmware code for more details.

The thing is that I can't find anything of your code in the Crazyflie-firmware
https://github.com/search?q=repo%3Abitcraze%2Fcrazyflie-firmware%20tiny&type=code
I also tried to search for the keyword: "MPC" and looked for github branches and couldn't find it.

If you by chance meant your own repository branch https://github.com/TinyMPC/TinyMPC/tree/crazyflie-firmware, I checked problem_data/quadrotor_20hz_params.hpp of both main and this branch and the values are at least very similar if not identical.

Where could I find quadrotor_20hz_params.hpp tuned for the crazyflie?

Thank you very much for your time and effort

Greetings from Germany :)
Daniel

[xkhainguyen]

Hi there,

Thank you for reaching out!

For a better understanding of the entire workflow (even with the real hardware), we recommend you check this example. This should provide you with a sense of modeling as well as MPC implementation. You can see our actual Crazyflie model parameters (we guess-estimated them though), but the remaining MPC part is new and has not been tested on hardware.

We haven't released our "official" Crazyflie firmware yet but you can check this repo. You can build and flash this firmware and it should run out of the box. This is not with our latest TinyMPC source code. For your particular questions, this is the data we use for the figure-8 tracking demo.

Note that despite using a sloppy quadrotor model, our MPC works quite robustly.

I hope this is helpful. Let us know if you have any other questions. Good luck!