Search found 313 matches

by whoenig
Wed Apr 03, 2019 3:41 pm
Forum: Support
Topic: Trying out the Crazyswarm
Replies: 8
Views: 878

Re: Trying out the Crazyswarm

Perhaps we can continue the discussion here: https://github.com/USC-ACTLab/crazyswarm/issues/146? I will respond there today with some ideas.
by whoenig
Mon Apr 01, 2019 11:50 pm
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 6
Views: 808

Re: Pose topic using Crazyswarm

What you describe is actually not part of crazyflie_ros, but lps-ros, namely this file: https://github.com/bitcraze/lps-ros/blob/master/scripts/lps_ekf_bridge.py. This current solution is not perfect, because position and orientation are not necessarily logged at the same time. To implement this pro...
by whoenig
Fri Mar 29, 2019 7:15 pm
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 6
Views: 808

Re: Pose topic using Crazyswarm

Which topic are you referring to? You can still get the pose of each robot (they are part of ROS tf). There are currently some differences in the feature set between the two solutions, so if something else is missing, you might need to port some code from crazyflie_server to crazyswarm_server. If yo...
by whoenig
Fri Mar 29, 2019 5:16 am
Forum: Support
Topic: How can I make the quads unique?
Replies: 4
Views: 472

Re: How can I make the quads unique?

Hi,
There is a description with pictures in Section 5.1 in http://act.usc.edu/publications/Hoenig_ ... OS2017.pdf. Hope that helps!
by whoenig
Tue Mar 26, 2019 5:36 pm
Forum: Autonomous flight
Topic: Mellinger controller
Replies: 6
Views: 838

Re: Mellinger controller

Just one small correction: High-level mode and mellinger are independent, i.e., you can use the high-level mode and fly with the PID controller. You can also use the mellinger to fly manually using a joystick. And a warning: There are currently some issues with switching between high-level and low-l...
by whoenig
Tue Mar 05, 2019 3:52 am
Forum: Support
Topic: takeoff issue with the new flow deck 2.0 + HL controller
Replies: 6
Views: 876

Re: takeoff issue with the new flow deck 2.0 + HL controller

There is currently no good way to switch from low-level mode to high-level mode (however, one can switch from high-level to low-level). I am working on firmware changes to allow graceful switches between these modes.
by whoenig
Wed Feb 27, 2019 7:48 am
Forum: General discussions
Topic: Crazyflie 2.0 feedback
Replies: 34
Views: 9677

Re: Crazyflie 2.0 feedback

It is merged in the official NRF firmware: https://github.com/bitcraze/crazyflie2- ... #L463-L469. There is also a neat function that allows you to check the battery voltage without turning the STM32 on.
by whoenig
Tue Feb 26, 2019 5:58 am
Forum: General discussions
Topic: Synchronize Multiple Log Blocks
Replies: 5
Views: 1066

Re: Synchronize Multiple Log Blocks

If you are fine with analyzing the data offline, I suggest using the uSD card deck. It is possible to log a larger number of variables at the same time, at a higher frequency. I also implemented a "synchronous" mode, which essentially allows you to log data synchronously with the stabilizer loop (th...
by whoenig
Tue Feb 26, 2019 5:53 am
Forum: Loco Positioning System
Topic: Take off error using dwm_loc_ekf_swarm_hover.launch
Replies: 1
Views: 344

Re: Take off error using dwm_loc_ekf_swarm_hover.launch

For new projects I suggest using the Crazyswarm instead of lps-ros + crazyflie_ros (see https://crazyswarm.readthedocs.io/en/latest/). The Crazyswarm supports UWB with TDoA2 and TDoA3. You will benefit from having the actual position controller on-board for improved robustness.