Search found 479 matches

by kristoffer
Wed May 12, 2021 8:32 am
Forum: Lighthouse positioning system
Topic: Receiving and Estimator Problem V2
Replies: 5
Views: 125

Re: Receiving and Estimator Problem V2

Also, can you fly with the V2 base stations?
by kristoffer
Wed May 12, 2021 8:31 am
Forum: Lighthouse positioning system
Topic: Receiving and Estimator Problem V2
Replies: 5
Views: 125

Re: Receiving and Estimator Problem V2

I looked at your video of the client and this behaviour is actually what is expected, I will try to explain what is happening and why V1 looks different. In Lighthouse V1 the two base stations are synchronized (either optically or by a cable). The result is that the rotors in the two base stations a...
by kristoffer
Tue May 11, 2021 2:59 pm
Forum: Loco Positioning System
Topic: LPS setup
Replies: 5
Views: 427

Re: LPS setup

Hi! So, if I wanna increase the TX power in Crazyflie and recompile with the config.mk, should I use the command make cload or make clean? make clean make make cload This will clean, build and flash to the Crazyflie Also, in what circumstance do I need to increase the TX power in Crazyflie? Flying w...
by kristoffer
Tue May 11, 2021 2:48 pm
Forum: Quadcopters
Topic: Mellinger and PID controllers
Replies: 7
Views: 240

Re: Mellinger and PID controllers

Ah, I see. The client uses the PositionHlCommander, you can find it here https://github.com/bitcraze/crazyflie-c ... ab.py#L436
by kristoffer
Tue May 11, 2021 9:33 am
Forum: Lighthouse positioning system
Topic: CF having trouble reciveing over 4 lightouses.
Replies: 3
Views: 82

Re: CF having trouble reciveing over 4 lightouses.

I think it can be improved slightly with software but there will be an upper limit somewhere.
A clue might be that it is limited to 4 base stations in Valve's (Steam) set up
by kristoffer
Tue May 11, 2021 9:06 am
Forum: Lighthouse positioning system
Topic: Erratic and Conflicting Roll, Pitch and Yaw values.
Replies: 5
Views: 134

Re: Erratic and Conflicting Roll, Pitch and Yaw values.

Interesting! This might be related to the way we estimate the yaw. The yaw is estimated on the assumption that the roll and pitch is "good" and tries to project the base station sweeps onto the crazyflie to calculate the yaw error. It is possible (likely) that this code assumes that the base station...
by kristoffer
Tue May 11, 2021 8:10 am
Forum: Developer Discussions
Topic: PositionHlCommander Localization system
Replies: 8
Views: 178

Re: PositionHlCommander Localization system

Sorry for the slightly confuse and vague information! self._x, self._y and self._z contains the position that the PositionHlCommander believe the Crazyflie is at, it is updated whenever you call a method that moves the CF. You can get the position by calling get_position() Yes, go_to() expects an ab...
by kristoffer
Mon May 10, 2021 1:48 pm
Forum: Lighthouse positioning system
Topic: Do not fly
Replies: 2
Views: 105

Re: Do not fly

I just heard that there is a bug in the current firmware source code that might give this symptom. If you are using the 2021.03 release everything should be fine though.
by kristoffer
Mon May 10, 2021 1:44 pm
Forum: Developer Discussions
Topic: Bias in accelerometer
Replies: 5
Views: 172

Re: Bias in accelerometer

Do you have a bias after restarting the CF and letting it sit on the floor as well?
by kristoffer
Mon May 10, 2021 1:30 pm
Forum: Quadcopters
Topic: Mellinger and PID controllers
Replies: 7
Views: 240

Re: Mellinger and PID controllers

As mentioned before, the mellinger controller requires very good position estimation and the flow deck is probably not good enough. I did a quick test my self with the autonmouse_sequence_high_level.py script, it contains a line that is commented out that switches to the mellinger. I did see the sam...