Search found 319 matches

by whoenig
Tue Mar 26, 2019 5:36 pm
Forum: Autonomous flight
Topic: Mellinger controller
Replies: 6
Views: 1173

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: 1001

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: 10198

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: 1299

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: 420

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.
by whoenig
Tue Feb 26, 2019 5:51 am
Forum: General discussions
Topic: Crazyflie 2.0 feedback
Replies: 34
Views: 10198

Re: Crazyflie 2.0 feedback

Some portion is actually already implemented and called sysoff: The NRF51 stays on, but the STM32 powers-off. It is possible to switch between syson/sysoff remotely using crazyflie_cpp/crazyflie_ros (I don't think the python client has support for this). Note that if you press the power button then ...
by whoenig
Thu Feb 21, 2019 9:07 pm
Forum: Loco Positioning System
Topic: cmd_vel in crazyflie_controller_bridge.py
Replies: 5
Views: 869

Re: cmd_vel in crazyflie_controller_bridge.py

Are you assigning unique addresses to each of the CFs? To (re)configure it is best to connect the CF over USB, especially if you change radio related parameters. Section 5.1 in [1] might also help you. The scan tools only use a single radio for the scanning. You can assign a radio, just by changing ...
by whoenig
Wed Feb 20, 2019 5:42 pm
Forum: Loco Positioning System
Topic: cmd_vel in crazyflie_controller_bridge.py
Replies: 5
Views: 869

Re: cmd_vel in crazyflie_controller_bridge.py

Unfortunately, this particular one is not in crazyflie_cpp, yet. I added an issue for it https://github.com/whoenig/crazyflie_cpp/issues/8. Once it is there, I can also add it to crazyflie_ros using a new ROS topic.
by whoenig
Thu Feb 14, 2019 9:45 pm
Forum: Bitcraze
Topic: `what(): LIBUSB_ERROR_TIMEOUT ` Error on Roadrunner (Only on USB)
Replies: 2
Views: 675

Re: `what(): LIBUSB_ERROR_TIMEOUT ` Error on Roadrunner (Only on USB)

Feel free to open an issue in github for crazyflie_ros or crazyflie_cpp. I have seen this issue before with USB and a regular Crazyflie. Here is a change that reduces the probability of issues occurring, but does not entirely fix the problem: https://github.com/whoenig/crazyflie_cpp/commit/2d3557ee8...