All the estimators and controllers are part of the standard firmware build and the active estimator and controller can be configured in runtime or compile time.
Estimators
The available estimators are defined in the StateEstimatorType enum in src/modules/interface/estimator.h.
Setting in runtime
To activate a specific estimator, set the stabilizer.estimator parameter to the appropriate value based on the StateEstimatorType.
The parameter can be set from the python client, the python lib or from an app in on-board the Crazyflie.
Default estimator
The complementary estimator is the default estimator.
Some decks require the Kalman estimator and it is automatically activated when one of these decks are detected. The activated estimator is based on the .requiredEstimator member of the DeckDriver API.
Setting default estimator at compile time
It is possible to force the use of a specific estimator at compile time by setting ESTIMATOR, see Configure the build in kbuild.
Example:
ESTIMATOR=kalman
Controller
The available controllers are defined in the ControllerType enum in src/modules/interface/controller.h.
Setting in runtime
To activate a specific controller, set the stabilizer.controller parameter to the appropriate value based on the ControllerType.
The parameter can be set from the python client, the python lib or from an app in the Crazyflie.
Default controller
The PID controller is the default controller.
Setting at compile time
It is possible to force the use of a specific controller at compile time by setting CONTROLLER, see Configure the build in kbuild.
Example:
CONTROLLER=Mellinger