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This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to

This page is meant as an introduction and overview of the path from sensor acquisition to motor control. In order to understand the details of each of the step the best is to read the code, but it's not trivial to understand the flow. Therefore this should be seen more as a map of where to look in the code to understand, than a complete documentation of each step.

Sensor acquisition

Sensor fusion

Rate- and attitude control

Motor control

doc/crazyflie/dev/fimware/sensor_to_control.txt · Last modified: 2020-05-12 14:25 by kimberly