Search found 316 matches

by whoenig
Sun Dec 01, 2019 8:17 pm
Forum: General discussions
Topic: More powerful motors
Replies: 2
Views: 66

Re: More powerful motors

I used https://www.amazon.com/BETAFPV-19000KV-Brushed-JST-1-25-Connector/dp/B07HD854SG/ref=sr_1_3?keywords=betafpv+7x16mm&qid=1566084299&s=gateway&sr=8-3 with the stock Crazyflie propellers before. The motors are much more powerful (~2.6 thrust-to-weight ratio rather than 1.5), but they also tend to...
by whoenig
Thu Nov 28, 2019 1:30 am
Forum: General discussions
Topic: Crazyflie 2.0 IMU data
Replies: 4
Views: 953

Re: Crazyflie 2.0 IMU data

It depends on what variables you log. In this case it's just non-SI units to SI units, see https://github.com/whoenig/crazyflie_ro ... #L596-L604.
by whoenig
Sun Nov 24, 2019 4:17 am
Forum: Loco Positioning System
Topic: Script to compress trajectories
Replies: 4
Views: 126

Re: Script to compress trajectories

Perhaps https://github.com/whoenig/uav_trajectories#generate-trajectory-given-time-position-pairs helps: You can encode a list of timed waypoints to trajectories with a specified number of pieces, i.e., if you want to reduce the memory you can reduce the number of pieces. The script solves an optimi...
by whoenig
Tue Nov 19, 2019 6:06 am
Forum: Developer Discussions
Topic: Generate and upload trajectories in real time
Replies: 3
Views: 104

Re: Generate and upload trajectories in real time

If you use the Crazyswarm or crazyflie_ros, you can evaluate your trajectory on the host PC and send an updated setpoint (pos, vel, acc, w, yaw) using the cmd_full_pose topic.
by whoenig
Mon Nov 11, 2019 7:18 pm
Forum: Developer Discussions
Topic: Fly through a inclined narrow gap
Replies: 1
Views: 148

Re: Fly through a inclined narrow gap

You might hit saturation limits of the motors, which can cause a crash. The maximum roll/pitch angles I ever achieved with standard motors are about 35 degrees. To debug, I suggest using the uSD deck and logging important variables (in this case, the motor pwm's for example). You can use the same te...
by whoenig
Mon Nov 11, 2019 7:13 pm
Forum: Autonomous flight
Topic: ROS Crazyflie Server Timeout (Received unrequested data for block)
Replies: 1
Views: 148

Re: ROS Crazyflie Server Timeout (Received unrequested data for block)

This looks like a bug with respect to an old logging configuration. Could you please open an issue at https://github.com/whoenig/crazyflie_ros/issues?
by whoenig
Fri Jul 12, 2019 4:57 am
Forum: Support
Topic: make[1]: *** [estimator_kalman.o] Error 1
Replies: 8
Views: 565

Re: make[1]: *** [estimator_kalman.o] Error 1

The firmware actually uses a different compiler, so you should check

Code: Select all

arm-none-eabi-gcc --version
instead. I use 2018-q3 and you can get the latest version at https://developer.arm.com/tools-and-sof ... /downloads.
by whoenig
Mon May 27, 2019 9:40 pm
Forum: Autonomous flight
Topic: Trajectory tracking with Qualisys and Mellinger controller
Replies: 1
Views: 430

Re: Trajectory tracking with Qualisys and Mellinger controller

Both crazyflie_ros and the crazyswarm support executing a pre-loaded trajectory (you can upload your trajectory while the CF is on the ground), see https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/scripts/figure8_csv.py for an example script. It assumes that your trajectory...
by whoenig
Mon May 27, 2019 9:37 pm
Forum: External positioning systems
Topic: How to send external position from Qualisys to CF2?
Replies: 2
Views: 450

Re: How to send external position from Qualisys to CF2?

If you use ROS, you can take a look at the Crazyswarm, which supports Qualisys: https://crazyswarm.readthedocs.io/en/latest/.

The Mellinger controller does not require you to use a mocap. It works with the flow-deck, UWB, or lighthouse as well.
by whoenig
Mon May 20, 2019 5:07 pm
Forum: General discussions
Topic: CF Ignores some of the high-level commands
Replies: 10
Views: 1066

Re: CF Ignores some of the high-level commands

See also https://github.com/whoenig/crazyflie_ros/issues/140. @tobias: In crazyflie_ros, we resend the command until an acknowledgement is received, but not until we get the answer generated here: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/crtp_commander_high_level.c#...