Search found 5 matches

by aligriv
Mon Apr 12, 2021 11:18 pm
Forum: Autonomous flight
Topic: Random Behavior while hovering/flying autonoumously
Replies: 9
Views: 459

Re: Random Behavior while hovering/flying autonoumously

Originally, I thought that CF is taking yawRate as input, and my control input was kp*(measured_yaw-desired_yaw), which in my case the desired value for yaw angle was zero. However, after you mentioned that I should send yaw (not its rate), I still think this method should work if I send a control v...
by aligriv
Thu Apr 08, 2021 10:29 pm
Forum: Autonomous flight
Topic: Random Behavior while hovering/flying autonoumously
Replies: 9
Views: 459

Re: Random Behavior while hovering/flying autonoumously

It looks like your controller is increasing the thrust when the CF starts to descend (after t=25s) but that it does not help and the CF is continuing down anyway. Are you running the stock firmware or do you have any modifications/decks that might change the normal behaviour? I had a quick look at ...
by aligriv
Tue Apr 06, 2021 5:13 pm
Forum: Autonomous flight
Topic: Random Behavior while hovering/flying autonoumously
Replies: 9
Views: 459

Re: Random Behavior while hovering/flying autonoumously

For more clarification, please see this figure (scroll to the right side of the plot if the image is too large): https://github.com/AliGriv/Crazyflie_test/blob/main/unsuccessful_single_thread_35shover_2/z_values.png In this plot, the values of the actual and desired position in z-axis are compared. ...
by aligriv
Mon Apr 05, 2021 6:52 pm
Forum: Autonomous flight
Topic: Random Behavior while hovering/flying autonoumously
Replies: 9
Views: 459

Re: Random Behavior while hovering/flying autonoumously

Do you see the same problem when flying a single CF only? I had a brief look at your code and I noticed that this is not threadsafe. In order to exchange data, you should either use queues (https://docs.python.org/3/library/queue.html) or semaphores (https://docs.python.org/3/library/threading.html...
by aligriv
Sun Apr 04, 2021 7:33 pm
Forum: Autonomous flight
Topic: Random Behavior while hovering/flying autonoumously
Replies: 9
Views: 459

Random Behavior while hovering/flying autonoumously

Hello all, Our research lab have decided to use Crazyflies as our platform for controlling autonomous UAVs. We have Optitrack motion capture system in our lab and I'm trying to merge our existing approach with crazyflies. In brief, the problem is that I do not get a consistent result each time I try...