Search found 2463 matches

by arnaud
Thu May 06, 2021 1:59 pm
Forum: Developer Discussions
Topic: Debugging crazyflie
Replies: 3
Views: 19

Re: Debugging crazyflie

The Crazyflie is a 3.0V system. Yes SWIO is SWDIO, its a typo in the schematic.
by arnaud
Thu May 06, 2021 1:08 pm
Forum: Developer Discussions
Topic: Debugging crazyflie
Replies: 3
Views: 19

Re: Debugging crazyflie

the SWD lines and reset are required, SWO can be connected if you want to use ITM. This means: - GND - VCC - SWIO - SWCLK - SWO (Optional) - RESET That corresponds to the connector P3 of the Crazyflie schematic: https://www.bitcraze.io/documentation/hardware/crazyflie_2_1/crazyflie_2.1_schematics_re...
by arnaud
Thu May 06, 2021 1:04 pm
Forum: Developer Discussions
Topic: PositionHlCommander Localization system
Replies: 4
Views: 48

Re: PositionHlCommander Localization system

Something like that should work, yes. The easiest might be to send the position in a separate thread, this way you can separate the code that drives the Crazyflie and the code that update the position and you will be able to update the position more often than 10 times per seconds (100Hz should work...
by arnaud
Thu May 06, 2021 12:59 pm
Forum: Developer Discussions
Topic: Signal Processing at high frequencies
Replies: 2
Views: 32

Re: Signal Processing at high frequencies

2KHz using a task is complicated since the FreeRTOS scheduler is setup to work on a 1KHz tick, this means that sleep can only be setup in steps of 1ms and be >1ms. So the easy solution of having a loop in a task with delay is not possible. It is possible to change the tick time of the OS but this ri...
by arnaud
Tue May 04, 2021 7:45 am
Forum: Developer Discussions
Topic: Angular Velocity When Using Absolute Yaw
Replies: 3
Views: 40

Re: Angular Velocity When Using Absolute Yaw

I do not think anyone has ever measured this, sorry. It could be measured experimentally by logging the gyro measurement and making the Crazyflie yaw by steps a couple of time. There has been some paper published on making system identification on the Crazyflie. We list papers on our webpage: https:...
by arnaud
Tue May 04, 2021 7:36 am
Forum: Developer Discussions
Topic: FP16 in Log
Replies: 2
Views: 1443

Re: FP16 in Log

Hi, The latest master of the lib does support FP16 out of the box, this example demonstrate the functionality: https://github.com/bitcraze/crazyflie-lib-python/blob/50bb606cfefac1b9b25ab503c4c787cef786668b/examples/basiclog.py#L84. Since python 3.6, Python actually supports fp16 out of the box in st...
by arnaud
Mon May 03, 2021 12:29 pm
Forum: Developer Discussions
Topic: PositionHlCommander Localization system
Replies: 4
Views: 48

Re: PositionHlCommander Localization system

When using a mocap system you must send the Crazyflie position in your script to the Crazyflie. We have an example of that for Qualisys (https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/qualisys/qualisys_hl_commander.py) and there is a ticket discussing of a Vicon version of it ...
by arnaud
Mon May 03, 2021 9:01 am
Forum: Developer Discussions
Topic: Always a sudden disturbance in the 11rd second
Replies: 1
Views: 48

Re: Always a sudden disturbance in the 11rd second

Hi,

This is not something I have seen before. How are you controlling your Crazyflie, using the python lib or something else like ROS? If it is using the python lib can you send an example script that makes the problem apparent?
by arnaud
Fri Apr 30, 2021 8:49 am
Forum: Autonomous flight
Topic: Need help with broadcasting & swarm control
Replies: 4
Views: 185

Re: Need help with broadcasting & swarm control

Hi, Interesting experiment, I would love to get some update when you have things working. Adding broadcast support to the python lib and the native link sounds interesting. For your current problem: have you updated your Crazyradio with the Crazyswarm-provided firmware? The stock Crazyradio is not a...
by arnaud
Fri Apr 30, 2021 8:21 am
Forum: Bitcraze
Topic: Acceleration Setpoint Crazyflie Python Lib
Replies: 3
Views: 270

Re: Acceleration Setpoint Crazyflie Python Lib

Hum, yes you are right for the PID controller, sorry I did not pick that up in my first answer. When using the PID controller, the only idea I can have is to control the acceleration with roll and pitch: assuming you are hovering, the acceleration should be the gravity * sin(roll/pitch). When using ...