Search found 23 matches

by flavia1394
Fri Aug 10, 2018 5:32 pm
Forum: Autonomous flight
Topic: ROS package modifications, Crazyflie receives the wrong orientation
Replies: 7
Views: 1070

Re: ROS package modifications, Crazyflie receives the wrong orientation

For trajectory tracking, the recommended way is to use the nonlinear controller that runs on-board (you can switch to it by changing the "stabilizer.controller" parameter to 2; might require latest master-firmware). Then, you can publish topics to "cmd_full_state", that includes position, velocity,...
by flavia1394
Wed Jul 25, 2018 3:34 pm
Forum: Autonomous flight
Topic: ROS package modifications, Crazyflie receives the wrong orientation
Replies: 7
Views: 1070

Re: ROS package modifications, Crazyflie receives the wrong orientation

Did you test your overall setup of the UWB using stock/unchanged software? One issue (as you point out) might be the coordinate system, that 0,0,0 is not where you expect it is. Using the UWB you won't get as good tracking performance (because the state estimate will be noisier) compared to VICON, ...
by flavia1394
Tue Jul 24, 2018 3:10 pm
Forum: Autonomous flight
Topic: ROS package modifications, Crazyflie receives the wrong orientation
Replies: 7
Views: 1070

Re: ROS package modifications, Crazyflie receives the wrong orientation

It is pretty difficult to see which part is changed and which part is default: 1. Do you run the default firmware? If not, what are the firmware changes? In any case, which exact firmware are you running? 2. Which changes did you do to crazyflie_ros? Also, I am unclear on what the exact behavior is...
by flavia1394
Fri Jul 20, 2018 7:46 pm
Forum: Autonomous flight
Topic: ROS package modifications, Crazyflie receives the wrong orientation
Replies: 7
Views: 1070

ROS package modifications, Crazyflie receives the wrong orientation

Hi everyone, I'm following this report: https://arxiv.org/pdf/1608.05786.pdf Like the guys, I modified the server script and the controller script in c++, in particular they created an user interactive topic named "/goal" created in MATLAB that lets the user choose between a number of predefined tra...
by flavia1394
Fri Jul 13, 2018 3:29 am
Forum: Developer discussions
Topic: Matlab controllers and Crazyflie ROS package
Replies: 5
Views: 795

Re: Matlab controllers and Crazyflie ROS package

whoenig wrote:
Tue Jul 10, 2018 7:57 pm
For controllers that output PWM directly, I suggest to implement your code in C, directly in the firmware. The latency is too high and bandwidth too low to achieve good control results if the controller is running off-board.
Thank you for your answer.
by flavia1394
Tue Jul 10, 2018 1:47 pm
Forum: Developer discussions
Topic: Matlab controllers and Crazyflie ROS package
Replies: 5
Views: 795

Re: Matlab controllers and Crazyflie ROS package

If your controller is a position controller (and you want to use the on-board attitude controller), you can publish your target values to the cmd_vel topic. One example of such approach is the crazyflie_controller package in the crazyflie_ros stack. If you want to replace the complete controller, t...
by flavia1394
Fri Jul 06, 2018 4:01 pm
Forum: Developer discussions
Topic: Matlab controllers and Crazyflie ROS package
Replies: 5
Views: 795

Re: Drone fly with Matlab controller

Should I rewrite the controller class into the Ros crazyflie package?
by flavia1394
Thu Jul 05, 2018 9:04 pm
Forum: Developer discussions
Topic: Matlab controllers and Crazyflie ROS package
Replies: 5
Views: 795

Matlab controllers and Crazyflie ROS package

HI, I would like to use the Matlab controller that I created in these month to let fly the crazyflie. The first step was putting all the sensor value with the ROS package in Matlab, now I would like simply to send a trajectory from MATLAB to the drone and then using the controllers that I created. C...
by flavia1394
Mon Jun 25, 2018 2:38 pm
Forum: Developer Discussions
Topic: client problem pyqtgraph
Replies: 1
Views: 234

Re: client problem pyqtgraph

does anyone have the same problem? I downloaded all the libraries and the client on my macbook, not on the VM and it works. Why the VM has this issue?
by flavia1394
Thu Jun 21, 2018 8:24 pm
Forum: Developer Discussions
Topic: client problem pyqtgraph
Replies: 1
Views: 234

client problem pyqtgraph

I attached the anchors of the loco positioning system and the client seems too see them because the numbers related to the anchors are green: but in the terminal I have the error related to PyQtGraph: Schermata 2018-06-21 alle 3.57.45 PM.png so I tried on Ubuntu 14.04: 1) sudo apt-get update 2) sudo...