Modes Disable, Abs and Velocity.

[Wallat1]

Hi.

I would like to know what modeDisable, modeAbs and modeVelocity are used for?, since I have seen that they are used in the PID, Mellinger and INDI controllers. On the other hand, I would also like to know if is its use necessary?.

I would appreciate your help, regards.

[knmcguire]

Hi!

Yes these modes use is necessary. It is a way to regulate the setpoint structure in the controllers. The setpoint has reference values for position, velocity, attitude and attitude rate. For PID at least, it can not control all of those (unlike mellinger which is a full state controller), so the setpoint should indicate which value to listen to.

So if the x axis in the setpoint is set to modeAbs, the controller will use the position as reference, and if it is modeVelocity, it will look at velocity for reference , and if it is modeDisabled, it will not control anything in the x-axis (position nor velocity) and control the attitude instead instead.

This is an interesting issue for you to read: bitcraze/crazyflie-firmware#577
And here is some documentation: https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/sensor-to-control/commanders_setpoints/#setpoint-structure

[Wallat1]

Hi.

Thank you so much for your help, with this information I understood a little more about the modes.

Regards