Search found 15 matches

by dedecun
Wed Apr 21, 2021 3:14 pm
Forum: Developer Discussions
Topic: INDI Controller Outer + Inner loop problems
Replies: 10
Views: 2617

Re: INDI Controller Outer + Inner loop problems

Sounds awesome, go for it. Like I said, I will be around, won't have much time really, but count on me.
by dedecun
Wed Apr 21, 2021 10:28 am
Forum: Developer Discussions
Topic: INDI Controller Outer + Inner loop problems
Replies: 10
Views: 2617

Re: INDI Controller Outer + Inner loop problems

Really? Your supervisor is Dr. Ewoud Smeur? OK, you should have started there, my friend, hahahahaha. This is very important context to give. Alright, you are in a position better than anyone else to fix anything here. You can talk directly to the Oracle :) Also, this implementation was completely i...
by dedecun
Tue Apr 20, 2021 6:45 pm
Forum: Developer Discussions
Topic: INDI Controller Outer + Inner loop problems
Replies: 10
Views: 2617

Re: INDI Controller Outer + Inner loop problems

The parameters used in the filtering of the angular acceleration need to be estimated from the model itself. I have included tools for doing so, they can be found mainly in the `tools/param_est` folder. You will certainly need to dig in the theory behind the controller a little bit more to understan...
by dedecun
Fri Apr 16, 2021 10:15 am
Forum: Developer Discussions
Topic: INDI Controller Outer + Inner loop problems
Replies: 10
Views: 2617

Re: INDI Controller Outer + Inner loop problems

Hi, Max. The INDI controller was implemented a while ago, and honestly we used it in only one application. This is only the second time someone reaches to talk about it, which is definitely a good sign, even though experiencing problems. First step is to tell you this implementation has been complet...
by dedecun
Wed Oct 09, 2019 8:54 am
Forum: Support
Topic: BigQuad deck ESC PWM signal not changing
Replies: 6
Views: 5201

Re: BigQuad deck ESC PWM signal not changing

Hi, thanks for the answer. None of the two I believe is the cause. As I said, it outputs "ready to fly" in the console after calibration of the sensors. Also I have tested many times the same setup with a pure Crazyflie, even tested right after this one not working. Any other ideas? Cheers
by dedecun
Tue Oct 08, 2019 10:23 am
Forum: Support
Topic: BigQuad deck ESC PWM signal not changing
Replies: 6
Views: 5201

BigQuad deck ESC PWM signal not changing

Hi, I have followed all the instructions for updating the firmware and getting the Crazyflie 2.1 ready for the BigQuad deck. However, I seem to have a persistent problem. When powering up, the ESCs beep and then the drone says that it is ready to fly (in the cfclient console) and the ESCs beep again...
by dedecun
Tue Aug 27, 2019 9:38 am
Forum: General discussions
Topic: micro-SD deck log only zeros for PID controller commands
Replies: 5
Views: 2607

Re: micro-SD deck log only zeros for PID controller commands

Another important evidence to this case is that when I log the data over the radio (using the python client) all these signals are logged well. Attached is an example over the radio at 50Hz that illustrates what I am saying. The limitations now are, as you may know, that it is impossible to log all ...
by dedecun
Tue Aug 27, 2019 8:56 am
Forum: General discussions
Topic: micro-SD deck log only zeros for PID controller commands
Replies: 5
Views: 2607

Re: micro-SD deck log only zeros for PID controller commands

The strange thing is that the sensors signals are being gathered at 500Hz just fine, but the signals sent to the controller most are lost... I am attaching a .csv that contains all the results for you to take a look. Consider the signals and the config.txt as in the first post in this thread. Notice...
by dedecun
Tue Aug 27, 2019 8:20 am
Forum: General discussions
Topic: micro-SD deck log only zeros for PID controller commands
Replies: 5
Views: 2607

Re: micro-SD deck log only zeros for PID controller commands

I took the Flow Deck but I still have problems trying to log the PID controller signals at 500Hz :( . I figured out by trial and error that it is not possible to have buffers bigger than 100 or so. The problem is that I fly for about 2 or 3 minutes, trying to log at 500Hz, but when I decode the file...
by dedecun
Wed Aug 21, 2019 10:52 am
Forum: General discussions
Topic: micro-SD deck log only zeros for PID controller commands
Replies: 5
Views: 2607

Re: micro-SD deck log only zeros for PID controller commands

I have just tested the same configuration using this time only 50Hz and it worked. So it seems to me that I can not log these control signals using 500Hz. Why is that? Is it because of the resources competing problem (could work without Flow deck) or is there another kind of conceptual problem in tr...