Search found 33 matches

by giandoman
Tue Oct 02, 2018 12:19 pm
Forum: Developer Discussions
Topic: How to start in order to modify the PID controller
Replies: 5
Views: 867

Re: How to start in order to modify the PID controller

Hi, You should start by looking at the stabilizer loop to understand how the different parts fits together. The controller is called there: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/stabilizer.c#L185. There is currently two controller implemented, you can look at ho...
by giandoman
Mon Sep 17, 2018 3:22 pm
Forum: Developer Discussions
Topic: Flow deck and zrange strange behaviour
Replies: 1
Views: 372

Flow deck and zrange strange behaviour

Hello, i have a doubt. I'm using my CF2.0 with the flow deck, i was playing with the logging variables and i noticed that the kalman filter works without problem and estimations are good but i have 0 measurements from the logs of the range variables (range.zrange, range.back and so on). Any ideas? I...
by giandoman
Thu Sep 13, 2018 4:03 pm
Forum: Developer Discussions
Topic: How to start in order to modify the PID controller
Replies: 5
Views: 867

How to start in order to modify the PID controller

Hello everybody,
i know it may sounds complex, but i would like to know (at least) where to start to implement a new controller for the crazyflie in order to substitute it to the classic PID.
For example i would like to implement an LQR control. Where should i start?
Thanks
by giandoman
Wed Dec 13, 2017 2:58 pm
Forum: Developer Discussions
Topic: kalman reset estimation question
Replies: 1
Views: 716

kalman reset estimation question

hello everybody, i have one (maybe trivial) question. In cf python codes i always see the reset kalman estimation done by these to command cf.param.set_value('kalman.resetEstimation', '1') time.sleep(0.1) cf.param.set_value('kalman.resetEstimation', '0') my question is...why one needs to switch the ...
by giandoman
Sun Nov 12, 2017 5:34 pm
Forum: Loco Positioning System
Topic: Multiple flight with loco positioning system
Replies: 1
Views: 516

Multiple flight with loco positioning system

Hello guys at bitcraze! I want to know if there is an update related to this post. https://www.bitcraze.io/2016/09/flying-many-crazyflie-with-loco-positioning-system/ Is it possible with the actual firmware (nodes and drones) to make a multiple flight just with the loco positioning system? Thanks Gi...
by giandoman
Thu Oct 26, 2017 12:38 pm
Forum: Developer Discussions
Topic: How to read the kalman estimated position and use it in the code
Replies: 2
Views: 857

Re: How to read the kalman estimated position and use it in the code

Hi, This can be done using the log subsystem. You can find examples on how to log variables in the Crazyflie lib examples folder: https://github.com/bitcraze/crazyflie-lib-python/tree/master/examples. You can use the python client to discover the existing log variables, on the latest master the pos...
by giandoman
Thu Oct 26, 2017 8:31 am
Forum: Developer Discussions
Topic: How to read the kalman estimated position and use it in the code
Replies: 2
Views: 857

How to read the kalman estimated position and use it in the code

Hello everybody i'm starting to understand better how the CF work and students here in L'Aquila also seem to appreciate labs with these drones. I want to do a further step forward trying to understand how to read sensor data (particularly position estimation or z value from the flow deck). I want to...
by giandoman
Thu Oct 26, 2017 7:49 am
Forum: General discussions
Topic: Flow deck suggestions
Replies: 10
Views: 1985

Re: Flow deck suggestions

Hum, what does happen? With the flow it should 'work'. Actually I just tried with this sequence: sequence = [ (0, 0, 0.15, 0), (0, 0, 0.3, 0), (0.5, 0, 0.3, 0), (0.5, 0.5, 0.3, 0), (0, 0.5, 0.3, 0), (0, 0, 0.3, 0), ] Takeoff is an issue, I get it to take-off right about 3 times in 5, I added a step...
by giandoman
Wed Oct 25, 2017 12:13 pm
Forum: General discussions
Topic: Flow deck suggestions
Replies: 10
Views: 1985

Re: Flow deck suggestions

With the flow, the kalman filter will still keep track of and output an absolute position that you can use, though this absolute position will drift over time. The amount of drift should be very small in good conditions but there is no way to know the precision. If you want to recalibrate the absol...
by giandoman
Tue Oct 24, 2017 7:29 am
Forum: General discussions
Topic: Flow deck suggestions
Replies: 10
Views: 1985

Re: Flow deck suggestions

VX and VY are velocity in the body referential. yaw_rate is the rate at witch the yaw is turning in degree per second. So if you set VX to 0.5 and have a positive yaw_rate the Crazyflie will go forward turning right. If you keep the yaw_rate at 0, you can send "move 0.5m/s on X and 1m/s on Y", if y...