Search found 323 matches

by whoenig
Tue Nov 19, 2019 6:06 am
Forum: Developer Discussions
Topic: Generate and upload trajectories in real time
Replies: 4
Views: 757

Re: Generate and upload trajectories in real time

If you use the Crazyswarm or crazyflie_ros, you can evaluate your trajectory on the host PC and send an updated setpoint (pos, vel, acc, w, yaw) using the cmd_full_pose topic.
by whoenig
Mon Nov 11, 2019 7:18 pm
Forum: Developer Discussions
Topic: Fly through a inclined narrow gap
Replies: 1
Views: 230

Re: Fly through a inclined narrow gap

You might hit saturation limits of the motors, which can cause a crash. The maximum roll/pitch angles I ever achieved with standard motors are about 35 degrees. To debug, I suggest using the uSD deck and logging important variables (in this case, the motor pwm's for example). You can use the same te...
by whoenig
Mon Nov 11, 2019 7:13 pm
Forum: Autonomous flight
Topic: ROS Crazyflie Server Timeout (Received unrequested data for block)
Replies: 1
Views: 298

Re: ROS Crazyflie Server Timeout (Received unrequested data for block)

This looks like a bug with respect to an old logging configuration. Could you please open an issue at https://github.com/whoenig/crazyflie_ros/issues?
by whoenig
Fri Jul 12, 2019 4:57 am
Forum: Support
Topic: make[1]: *** [estimator_kalman.o] Error 1
Replies: 8
Views: 761

Re: make[1]: *** [estimator_kalman.o] Error 1

The firmware actually uses a different compiler, so you should check

Code: Select all

arm-none-eabi-gcc --version
instead. I use 2018-q3 and you can get the latest version at https://developer.arm.com/tools-and-sof ... /downloads.
by whoenig
Mon May 27, 2019 9:40 pm
Forum: Autonomous flight
Topic: Trajectory tracking with Qualisys and Mellinger controller
Replies: 1
Views: 618

Re: Trajectory tracking with Qualisys and Mellinger controller

Both crazyflie_ros and the crazyswarm support executing a pre-loaded trajectory (you can upload your trajectory while the CF is on the ground), see https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/scripts/figure8_csv.py for an example script. It assumes that your trajectory...
by whoenig
Mon May 27, 2019 9:37 pm
Forum: External positioning systems
Topic: How to send external position from Qualisys to CF2?
Replies: 2
Views: 617

Re: How to send external position from Qualisys to CF2?

If you use ROS, you can take a look at the Crazyswarm, which supports Qualisys: https://crazyswarm.readthedocs.io/en/latest/.

The Mellinger controller does not require you to use a mocap. It works with the flow-deck, UWB, or lighthouse as well.
by whoenig
Mon May 20, 2019 5:07 pm
Forum: General discussions
Topic: CF Ignores some of the high-level commands
Replies: 10
Views: 1316

Re: CF Ignores some of the high-level commands

See also https://github.com/whoenig/crazyflie_ros/issues/140. @tobias: In crazyflie_ros, we resend the command until an acknowledgement is received, but not until we get the answer generated here: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/crtp_commander_high_level.c#...
by whoenig
Wed May 01, 2019 1:02 am
Forum: Support
Topic: [SOLVED] Bigquad - Expansion Drone Parts Recommendations
Replies: 3
Views: 725

Re: Bigquad - Expansion Drone Parts Recommendations

Two examples are here: https://crazyswarm.readthedocs.io/en/la ... dware.html, although as Tobias mentioned the field moves fast, so some of the components might not be available anymore.
by whoenig
Wed May 01, 2019 12:58 am
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 6
Views: 1147

Re: Pose topic using Crazyswarm

Hi, Which firmware are you using? The compressed state estimate is only available in very recent firmwares (official and crazyswarm). The logic has been added to crazyflie_ros as well, but not yet to the crazyswarm. For the list of variables, you can use the cfclient, or `rosrun crazyflie_tools list...
by whoenig
Sun Apr 07, 2019 8:35 pm
Forum: Loco Positioning System
Topic: How to send the location of the crazyflie to MATLAB?
Replies: 2
Views: 524

Re: How to send the location of the crazyflie to MATLAB?

You might be able to use the robotics toolbox. Then, depending on which localization system you use, you can subscribe to a topic that includes information about the CFs pose.