Search found 352 matches

by whoenig
Mon Mar 01, 2021 1:13 pm
Forum: General discussions
Topic: Nonparametric machine learning model written in CF2.1 firmware.
Replies: 3
Views: 30

Re: Nonparametric machine learning model written in CF2.1 firmware.

I am only aware of parametric ML models (e.g., Deep FeedForward Neural Networks: https://github.com/TaoChenOSU/quad_nn) with online inference (not learning). However, if you can find any pure C implementation of your desired nonparametric model, it should be possible to add to the firmware. Note tha...
by whoenig
Wed Feb 24, 2021 7:54 am
Forum: General discussions
Topic: Query about mathematical model of CF2.1
Replies: 1
Views: 63

Re: Query about mathematical model of CF2.1

The 2.1 has the same system ID as the CF 2.0, as only the IMU has been changed (& some other mechanical improvements). You can find most system identification parameters at https://www.research-collection.ethz.ch ... 850/214143.
by whoenig
Mon Feb 15, 2021 12:31 pm
Forum: Developer Discussions
Topic: Latency measurement between PC and Crazyflie
Replies: 1
Views: 230

Re: Latency measurement between PC and Crazyflie

We have added this in an experimental branch here: https://github.com/bitcraze/crazyflie-lib-python/blob/dev-nativedriver/sys_test/single_cf_grounded/test_link.py#L82-L113. The measured (roundtrip) latency is around 4ms on our systems, so for your control system you can expect about 2ms of latency. ...
by whoenig
Tue Feb 09, 2021 9:27 am
Forum: Support
Topic: Crazyflie does not fly properly
Replies: 27
Views: 522

Re: Crazyflie does not fly properly

The ROS topic for /cf2/log1 uses a generic topic and is not aware of which variable you are trying to inspect. The proper way of visualizing is:

Code: Select all

rqt_plot /cf2/log1/values[0]
The order in the array matches the order of your configuration.
by whoenig
Fri Jan 29, 2021 7:41 pm
Forum: Support
Topic: Crazyflie does not fly properly
Replies: 27
Views: 522

Re: Crazyflie does not fly properly

For the error, please make sure you source your ROS workspace (source devel/setup.bash) in the shell you run rqt_plot from.
by whoenig
Fri Jan 29, 2021 7:53 am
Forum: Support
Topic: Crazyflie does not fly properly
Replies: 27
Views: 522

Re: Crazyflie does not fly properly

You can configure your logging variables at https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L14 and enable logging at https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L48. The information will be...
by whoenig
Wed Jan 27, 2021 9:18 pm
Forum: Developer Discussions
Topic: downloading a log file from the SD
Replies: 7
Views: 311

Re: downloading a log file from the SD

Thanks for the PR - we'll take a look (it will take a few days). For the speed we are aware that Python does not seem to be able to use the radio as efficiently as the CPP version. One option we are currently working on is a native C++ backend for the lowest-level communication with the Crazyradio o...
by whoenig
Wed Jan 27, 2021 9:07 am
Forum: External positioning systems
Topic: crazyflie motion capture system using vicon with ROS
Replies: 1
Views: 345

Re: crazyflie motion capture system using vicon with ROS

I recommend using the Crazyswarm, which has the Vicon Datastream SDK included (i.e., no need to run vicon_bridge separately). Also note that vicon_bridge uses an old version of the Datastream SDK. From your screenshot, it simply looks like you did not set the hostname/IP address. You either need to ...
by whoenig
Tue Jan 26, 2021 9:34 am
Forum: Support
Topic: Crazyflie does not fly properly
Replies: 27
Views: 522

Re: Crazyflie does not fly properly

It seems like you are using the Crazyswarm? For LPS, it is better to use the PID controller, because the default gains of the Mellinger controller are very high (i.e., tuned for use with a motion capture system). You can change the controller at https://github.com/USC-ACTLab/crazyswarm/blob/master/r...
by whoenig
Sun Jan 24, 2021 8:34 pm
Forum: Developer Discussions
Topic: downloading a log file from the SD
Replies: 7
Views: 311

Re: downloading a log file from the SD

1. This is correct and can be an annoying limitation depending on your application. Improving this situation would require additional firmware changes. 2. The limit to 24 bytes is because of the CRTP + memory protocol format (and a physical limitation of the Crazyradio PA to only allow payloads of u...