Search found 318 matches

by whoenig
Sun Jan 05, 2020 11:22 pm
Forum: Support
Topic: Library of crazyflie in ROS documents
Replies: 2
Views: 87

Re: Library of crazyflie in ROS documents

This refers to the helper library in https://github.com/whoenig/crazyflie_ro ... azyflie.py. It should be found automatically, as long as you run python with crazyflie_ros/crazyflie_demo/scripts as your current working directory.
by whoenig
Tue Dec 24, 2019 8:31 pm
Forum: Bitcraze
Topic: Try to figure out the ROS package
Replies: 2
Views: 170

Re: Try to figure out the ROS package

Hi Duncan, 1. Some sort of localization in the demo scripts is required. However, this can be the flowdeck, LPS, Lighthouse, or mocap. In your case, you would essentially replace the feedback from such systems with the SLAM code. I suggest using the high-level-mode, see https://github.com/whoenig/cr...
by whoenig
Sun Dec 01, 2019 8:17 pm
Forum: General discussions
Topic: More powerful motors
Replies: 2
Views: 166

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: 1092

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: 238

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: 4
Views: 520

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: 192

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: 202

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: 666

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: 511

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...