Search found 435 matches

by kristoffer
Wed Apr 21, 2021 5:55 am
Forum: Lighthouse positioning system
Topic: lighthousev2 get_bs_geometry is not working well
Replies: 4
Views: 174

Re: lighthousev2 get_bs_geometry is not working well

Hi! It sounds like the firmware (FPGA binary) in the lighthouse deck has not been updated to the latest version. This binary is updated as a part of the normal flashing process and for this to work the deck must be mounted on the Crazyflie while flashing. After the STM and NRF firmware has been flas...
by kristoffer
Wed Apr 21, 2021 5:31 am
Forum: Support
Topic: Logging time onto sd card
Replies: 4
Views: 42

Re: Logging time onto sd card

It looks like the FAT file system can not be mounted by the Crazyflie.
Have you checked that your micro SD-card is formated with a FAT file system and that it can it be written (not write protected) and read with some other device?
by kristoffer
Tue Apr 20, 2021 8:35 am
Forum: Autonomous flight
Topic: Controlling Yaw Autonomously
Replies: 5
Views: 69

Re: Controlling Yaw Autonomously

Great! I have also seen this instability when pushing the full pose from a mocap system into the Crazyflie. It seemed to be sensitive at yaw = +-90 degrees if the std was too low. In the qualisys example script I used a different std (at line 254) if you want to play around with it. I think I picked...
by kristoffer
Mon Apr 19, 2021 2:26 pm
Forum: Lighthouse positioning system
Topic: Typical reason the crazyflie loses balance using lighthouse v2.
Replies: 3
Views: 98

Re: Typical reason the crazyflie loses balance using lighthouse v2.

My guess is that it is that particular area that is problematic. It could be that the coverage from the base stations is poor (I can not see where they are located) or that there is a reflection in some object. You could try to write a script that flies through that area to see what happens? You cou...
by kristoffer
Fri Apr 16, 2021 9:02 am
Forum: Autonomous flight
Topic: Controlling Yaw Autonomously
Replies: 5
Views: 69

Re: Controlling Yaw Autonomously

Hi! I could not open your scripts so I might be off. You are correct in that cf.extpos.send_extpos() pushes the position to the estimator, while cf.extpos.send_extpose() pushes the full pose. If you are using the kalman estimator (sounds like you should) it will use any data that is pushed into it, ...
by kristoffer
Fri Apr 16, 2021 7:53 am
Forum: Autonomous flight
Topic: Random Behavior while hovering/flying autonoumously
Replies: 9
Views: 490

Re: Random Behavior while hovering/flying autonoumously

I'm not completely sure about the details, but in the graph for measured yaw VS command (https://github.com/AliGriv/Crazyflie_te ... ommand.png), it looks like the command increase the error. Should it not be reversed?
by kristoffer
Fri Apr 16, 2021 7:39 am
Forum: Lighthouse positioning system
Topic: Typical reason the crazyflie loses balance using lighthouse v2.
Replies: 3
Views: 98

Re: Typical reason the crazyflie loses balance using lighthouse v2.

Hi!

It is very hard to say what happened in this case but this type of failure is often caused by outliers. If you also use the mellinger controller it is also very sensitive to errors in the estimated position.

Is the problem repeatable or was it a one off?
by kristoffer
Wed Apr 14, 2021 7:58 am
Forum: Support
Topic: Flying directly at wall in "Hover" mode
Replies: 5
Views: 670

Re: Flying directly at wall in "Hover" mode

I think taking off from the ground and hovering would be interesting.

BTW is this behaviour something you only see with the latest firmware (that is, did work before)?
by kristoffer
Tue Apr 13, 2021 8:19 am
Forum: Lighthouse positioning system
Topic: More than two basestations
Replies: 1
Views: 54

Re: More than two basestations

Hi Joe! The CPU load seems OK to me, that will probably not be a problem. The CF firmware will handle 3 base stations in a (fairly) good way, you should not have to change anything in the FW as far as I can see. Some of the client code on the other hand only handles 2 base stations, especially the g...
by kristoffer
Tue Apr 13, 2021 8:11 am
Forum: External positioning systems
Topic: StdDev of External Measurements
Replies: 5
Views: 295

Re: StdDev of External Measurements

If you use the send_extpose() method in the Extpos class (https://github.com/bitcraze/crazyflie-lib-python/blob/master/cflib/crazyflie/extpos.py#L54), the execution ends up in https://github.com/bitcraze/crazyflie-lib-python/blob/master/cflib/crazyflie/localization.py#L145-L159 where the pose is enc...