Where is the code related to change controller in the firmware?

[cc299792458]

Hi,

I'd love to study the code of changing the controller dynamicly in the firmware. I found something in the stabilizer.c, L260-L264, it seems like the controller is modified by the variable 'controllerType'. But I failed to find the code to change the 'controllerType'. I wonder where is it?

I also know there is a api in crazyflie-lib-python to change the controller.

Thank you very much!

[krichardsson]

Hi.

you can change controller with the stabilizer.controller parameter

Implemented in the firmware here

Example of setting the controller from the python lib can be found in autonomous_sequence_high_level.py for instance.

[cc299792458]

Thank you! So the controller is changed by the parameter implementation. I got it!