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Yes, I have done with the off-board controller using VICON.

Is the source file controller.cpp in the crazyflie_controller package the file which defines and feed the tf of crazyflie to the off-board controller? Or it is in another file?

Thank you.

Hello everyone, I'm working on a project in a laboratory which has developped a sensor to estimate the X and Y position of an object. I want to feed the X and Y estimation into the off-board controller of the Crazyflie on ROS to test if it's possible to control or not (while the actual Z and Yaw ang...

I'm wondering why the PID parameters by default for Z control are high (about 4000 to 5000)? Is there any technical reasons for that? Which are we trying to control, the thrust, the error between refernece height and real height, or what?

I aslo think it would be nice if you can list all the name of the free peripherals that still can be used for extension. By this way, we will not touch the peripherals that are already used for the basic function of the Crazyflie.

Hello,

I have generated the PWM signal using pin IO1 and Timer10 on the expansion board. And on the breakout expansion board, I solder an IR LED and some resistors. I'm wondering if these will affect the performance of the Crazyflie when I control the Crazyflie using VICON with ROS?

Thank you.

Here is the code I use: #include "deck.h" #include "debug.h" /* ST includes */ #include "stm32f4xx.h" #include "stm32f4xx_gpio.h" #include "stm32f4xx_rcc.h" #include "stm32f4xx_tim.h" /*Predefined macros*/ #define IR_TX_CARRIER_FREQ 56000 #...

I have just succeeded in generating the PWM anyway. Thank you so much for your help

Maybe I didn't give enough information. You are missing the K en DECK_DRIVER(pwm_ir). Edit: Also check out the howto if you haven't already. I succeed in the LED and DEBUG_PRINT example. However, still struggle to make PWM works. I will use pin IO1 and TIMER10. Do I need to declare .usedGpio = DECK...

I think I found one problem and the clue is DEC_DRIVER(pwm_ir); ;) I have tried to blink the LED exactly like this tutorial (https://wiki.bitcraze.io/doc:crazyflie:api:firmware:deck). There is no error when make and make cload, but the IO1 (PB8) pin is still not high when I measure by oscilloscope....

I followed what you told me to do with Deck Drivers but I'm still not successful, there is nothing new printed in the console after I load the program into Crazyflie. Here is my pwm_irled.c created in crazyflie-firmware/src/deck/driver/src : #include <stdint.h> #include <stdlib.h> #include <string.h...