Search found 15 matches

by nicuvlad94
Thu Feb 06, 2020 12:21 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

I will definitely do, but these days I am busy with acquiring some data (Crazyflie + Vicon). For that, I would need to log some data from the Crazyflie and I want to ask what is the difference between the acceleration in "stateEstimate" and the acceleration in the "sensorData". What is the benefit o...
by nicuvlad94
Mon Feb 03, 2020 3:55 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

Yes, if x, y, z is set to disabled and roll/pitch is set to modeAbs and yaw to modeVel, that is equivalent to attitude mode. Are you sure this is enough? Because I am commanding a setpoint (with the same config you suggested) in a loop and the motors don't start at all. I would expect that motors s...
by nicuvlad94
Mon Feb 03, 2020 12:25 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

Thank you for your reply! I will try the attitude mode as you suggested (because in my setup I also kept x and y to modeAbs). Also, for the hand release, I will try at least to hold it from the upper side, because I am using a self-developed shield at the moment and this gives me some "handler". I t...
by nicuvlad94
Fri Jan 31, 2020 2:31 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

Thank you! I will post my issue soon! I still have some further questions: Setting x,y,z to modeDisable is equivalent to running the drone in attitude mode (where also flow deck is not used?) I tried to put x and y to modeAbs and z to modeVelocity. And then I commanded a setpoint of (0,0,0). In this...
by nicuvlad94
Mon Jan 27, 2020 1:13 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

Ok. This is unexpected, maybe a debias of the gyro would help. I am not sure if crazyflie has it: i.e. leave the drone on flat ground for a few seconds and perform the average of the measured angular velocities. Then, substract these values from any future measurement. Is such thing implemented in C...
by nicuvlad94
Mon Jan 27, 2020 12:56 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

I understand. But as long as I am using the flow deck, the Kalman estimator is the way to go for me. Talking about estimators, I would have a question about the initialization of the estimator. Basically, what is the zero degrees yaw position? Is it the axis pointing to North, or it is just the posi...
by nicuvlad94
Mon Jan 27, 2020 12:36 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

Thank you for your answer! Yes, I knew about this so I put my additions in tools/make/config.mk:

Code: Select all

ESTIMATOR = kalman
CFLAGS += -DDECK_FORCE=vlad
Does it make any difference if I force the estimator to Kalman? I thought it is anyway the default one.
by nicuvlad94
Fri Jan 24, 2020 4:32 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

There would be other two questions I need to ask: 1. How would be a nice way to get acknowledge of when a setpoint has been reached. For instance if I command the drone to go somewhere, how do I know that target position was reached? I guess I can look into the setpoint Queue in the commander but th...
by nicuvlad94
Fri Jan 24, 2020 2:27 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

I think I found the issue! It seems that having debug mode on ("DEBUG=1 in the makefile") crashes the drone while flying. So basically, if I compile the project with DEBUG=1 and then I command a trajectory with "go_to" from Python, drone flies for 2 or 3 seconds and then the system crashes (because ...
by nicuvlad94
Fri Jan 24, 2020 9:39 am
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 3143

Re: Flying Crazyflie to a specific position setpoint

This is the output: SYS: ---------------------------- SYS: Crazyflie 2.1 is up and running! SYS: Build 137:26b58b428a10 (2019.09 +137) MODIFIED SYS: I am 0x203937434848500D004B0023 and I have 1024KB of flash! CFGBLK: v1, verification [OK] DECK_DRIVERS: Found 17 drivers DECK_DRIVERS: VID:PID BC:01 (b...