Search found 283 matches

by whoenig
Thu Nov 08, 2018 2:48 am
Forum: Autonomous flight
Topic: Using Mellinger Controller in crazyflie_ros
Replies: 1
Views: 136

Re: Using Mellinger Controller in crazyflie_ros

You can set the parameter "stabilizer.controller" to 2, which enables the mellinger controller on newer firmwares. To test it with crazyflie_ros, take a look at https://github.com/whoenig/crazyflie_ros/issues/112.
by whoenig
Tue Nov 06, 2018 5:17 am
Forum: Support
Topic: Reproducing YouTube Video (Swarming CrazyFlies)
Replies: 10
Views: 1400

Re: Reproducing YouTube Video (Swarming CrazyFlies)

(Discussed via PM).
by whoenig
Wed Oct 31, 2018 12:24 am
Forum: Quadcopters
Topic: how to alter the controller's code
Replies: 10
Views: 1481

Re: how to alter the controller's code

Either works. The main challenge is to find another available pin that can do PWM in HW. The driver itself just configures the pin accordingly. I would suggest starting reading the documentation of the STM32, and trying to understand the existing servo code (you can ask specific questions here of co...
by whoenig
Tue Oct 30, 2018 4:47 pm
Forum: External positioning systems
Topic: Problems with Kalman Filter
Replies: 5
Views: 972

Re: Problems with Kalman Filter

Which ROS package are you using? The first link points to Mike's firmware, but not a fork of crazyflie_ros. It seems to me that perhaps there are some versioning issues (i.e., the data that is sent from the PC uses a different format than what's expected on the firmware side).
by whoenig
Sat Oct 27, 2018 12:58 am
Forum: Quadcopters
Topic: how to alter the controller's code
Replies: 10
Views: 1481

Re: how to alter the controller's code

The driver exposes the PWM config (frequency and ratio) as parameters, see https://github.com/USC-ACTLab/crazyflie-firmware/blob/servo/src/deck/drivers/src/servodeck.c#L162-L165. Thus, you can use the parameter tab to change the settings. As arnaud said, any more high-level behavior might need some ...
by whoenig
Wed Oct 24, 2018 8:46 pm
Forum: Support
Topic: Reproducing YouTube Video (Swarming CrazyFlies)
Replies: 10
Views: 1400

Re: Reproducing YouTube Video (Swarming CrazyFlies)

All of the vendors have planning tools, so they should be able to figure out what you need, based on your space and budget. Just specify the marker size (we use 7.9mm markers) and tell them that you are looking for getting a point cloud rather than object tracking. Limits: * Practicality: maintenanc...
by whoenig
Tue Oct 23, 2018 2:25 am
Forum: Support
Topic: Reproducing YouTube Video (Swarming CrazyFlies)
Replies: 10
Views: 1400

Re: Reproducing YouTube Video (Swarming CrazyFlies)

1. I only really worked extensively with VICON, and it works pretty well and the support from the vendor is very good. Other users have used OptiTrack and Qualisys successfully as well. 2. There is the Crazyswarm, which has documentation here: https://crazyswarm.readthedocs.io/en/latest/. There is n...
by whoenig
Sun Oct 21, 2018 11:38 pm
Forum: Support
Topic: Reproducing YouTube Video (Swarming CrazyFlies)
Replies: 10
Views: 1400

Re: Reproducing YouTube Video (Swarming CrazyFlies)

1. It won't hover perfectly, but it shouldn't be as unstable as in the test video. You can see in the blog posts (for example, the recent IROS exhibition) what's possible. 2. Not without HW modification. Both of them need to be mounted underneath. Bitcraze had a "glow deck" prototype before that cou...
by whoenig
Fri Oct 19, 2018 5:04 pm
Forum: Support
Topic: Reproducing YouTube Video (Swarming CrazyFlies)
Replies: 10
Views: 1400

Re: Reproducing YouTube Video (Swarming CrazyFlies)

For the YouTube video, we used a VICON motion capture system, which provides sub-millimeter accuracy. Loco/UWB on the other hand provides 10cm accuracy. You can try pairing the UWB with the flow-deck, which improves the localization a lot, but might create issues if CFs fly on top of each other. Ano...
by whoenig
Fri Oct 12, 2018 2:08 am
Forum: Support
Topic: CRTP Protocol - Understanding of Responses and Requests
Replies: 5
Views: 300

Re: CRTP Protocol - Understanding of Responses and Requests

The documentation in the wiki is not complete (although basic operations should work as documented there). One way is to look at the source code of existing clients. If you know C++, then the following file might be helpful: https://github.com/whoenig/crazyflie_cpp/blob/master/include/crazyflie_cpp/...