Search found 2021 matches

by arnaud
Wed Jun 12, 2019 7:38 am
Forum: Developer Discussions
Topic: Modifying the control loop for educational purposes
Replies: 3
Views: 206

Re: Modifying the control loop for educational purposes

Just a note: you should test the idea first. There will likely be too much latency to control down to the motors PWM via the radio, I think it has been done once (someone on the forum implemented an LQR controller completely off-board a while ago), but it most likely requires to be very careful abou...
by arnaud
Wed Jun 12, 2019 7:25 am
Forum: Developer Discussions
Topic: implementing collision avoidance in FW
Replies: 11
Views: 1111

Re: implementing collision avoidance in FW

Hi, We have a version of the multiranger 'push' demo that works in the firmware, this is a simple form of obstacle avoidance. We also have the ICRA2019 demo that used the high-level-commander from the firmware. So for 1) and 2) you can look at the firmware-implemented push demo: https://github.com/b...
by arnaud
Tue Jun 11, 2019 7:33 am
Forum: General discussions
Topic: CF Ignores some of the high-level commands
Replies: 9
Views: 387

Re: CF Ignores some of the high-level commands

I solved a bug last week that could lose packet if the packets where not read fast enough by CRTP ports: https://github.com/bitcraze/crazyflie-firmware/issues/434. There is not a queue of 16 packets for each ports (only 1 previously) and the Crazyflie will crash if one of these queue overflows. With...
by arnaud
Mon Jun 10, 2019 12:51 pm
Forum: Developer Discussions
Topic: Forcing deck initialization
Replies: 3
Views: 131

Re: Forcing deck initialization

Looking at the console, no deck is forced so this is the problem. Is is not required to be in debug mode to force a deck. To make sure your config.mk is actually used, you can try to write some invalide make in config.mk and verifying that the build does not work anymore. For example I wrote 'plop' ...
by arnaud
Mon Jun 10, 2019 11:33 am
Forum: Developer Discussions
Topic: Forcing deck initialization
Replies: 3
Views: 131

Re: Forcing deck initialization

There has been no change in the deck force define, so this should still work. I agree that the deck driver not starting is a likely cause for the sequence not starting. The best would be to look in the log tab of the Crazyflie client when connecting to the Crazyflie, if a deck driver is forced it wi...
by arnaud
Fri Jun 07, 2019 8:07 am
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 1
Views: 238

Re: Lighthouse positioning questions

Hi, I can answer in order: 1) This is correct that you need 2 lighthouse base station V1 and one tracker or controller. The tracker is required to setup the system geometry (ie. find the base-station pose), eventually this could be done with only a Crazyflie and the tracker will not be required anym...
by arnaud
Wed Jun 05, 2019 10:35 am
Forum: Technology
Topic: Simple , Slow Flight for CF2 (Flow Deck)
Replies: 3
Views: 662

Re: Simple , Slow Flight for CF2 (Flow Deck)

One problem with reducing angle range is that you also reduce the amount of control you have: since tilting a quadcopter produces acceleration, even with limited tilt range you can reach quite high velocity and then you do not have the control required to break and avoid obstacles. So limiting the a...
by arnaud
Wed Jun 05, 2019 8:27 am
Forum: General discussions
Topic: How to control more than 50 crazyflies?
Replies: 16
Views: 1362

Re: How to control more than 50 crazyflies?

This is odd, if you are playing pre-loaded trajectories I see no reason why the Crazyflie would just fall: they should be flying autonomously independent of each-other. Are they restarting when falling and have you confirmed that the cause of the Crazyflie falling is when you are adding more and not...
by arnaud
Wed Jun 05, 2019 8:18 am
Forum: Technology
Topic: Simple , Slow Flight for CF2 (Flow Deck)
Replies: 3
Views: 662

Re: Simple , Slow Flight for CF2 (Flow Deck)

The flow deck is used in all flight modes: it provides information about the Crazyflie velocity and absolute height. This allows to implement hover mode and very accurate heigh-hold mode but it also affects normal unassisted flight: without assist mode you control the Crazyflie roll/pitch angles, if...
by arnaud
Tue Jun 04, 2019 8:52 am
Forum: External positioning systems
Topic: Lighthouse working but no values from estimator
Replies: 1
Views: 111

Re: Lighthouse working but no values from estimator

Hi, thanks for the detailed question! I have tested the same firmware here and for me it is working, I get angles, lighthouse raw position and a correct estimated position. One thing that could happen is that the EKF has diverged or crashed, when no graph is shown it is often the case that the EKF o...