Search found 2466 matches

by arnaud
Mon May 03, 2021 9:01 am
Forum: Developer Discussions
Topic: Always a sudden disturbance in the 11rd second
Replies: 1
Views: 69

Re: Always a sudden disturbance in the 11rd second

Hi,

This is not something I have seen before. How are you controlling your Crazyflie, using the python lib or something else like ROS? If it is using the python lib can you send an example script that makes the problem apparent?
by arnaud
Fri Apr 30, 2021 8:49 am
Forum: Autonomous flight
Topic: Need help with broadcasting & swarm control
Replies: 4
Views: 301

Re: Need help with broadcasting & swarm control

Hi, Interesting experiment, I would love to get some update when you have things working. Adding broadcast support to the python lib and the native link sounds interesting. For your current problem: have you updated your Crazyradio with the Crazyswarm-provided firmware? The stock Crazyradio is not a...
by arnaud
Fri Apr 30, 2021 8:21 am
Forum: Bitcraze
Topic: Acceleration Setpoint Crazyflie Python Lib
Replies: 3
Views: 294

Re: Acceleration Setpoint Crazyflie Python Lib

Hum, yes you are right for the PID controller, sorry I did not pick that up in my first answer. When using the PID controller, the only idea I can have is to control the acceleration with roll and pitch: assuming you are hovering, the acceleration should be the gravity * sin(roll/pitch). When using ...
by arnaud
Fri Apr 30, 2021 8:10 am
Forum: Developer Discussions
Topic: Angular Velocity When Using Absolute Yaw
Replies: 3
Views: 71

Re: Angular Velocity When Using Absolute Yaw

I think the answer is "as fast as possible". I also looked in the code and the only capping I can find are interger capping in INT16: https://github.com/bitcraze/crazyflie-firmware/blob/362d6085eec899aec380e04cc9ccf4fd732d7329/src/modules/src/attitude_pid_controller.c#L112. So, if you ask for a new ...
by arnaud
Fri Apr 30, 2021 8:01 am
Forum: Quadcopters
Topic: Mellinger controller and high_level_commander class
Replies: 3
Views: 151

Re: Mellinger controller and high_level_commander class

Yes I would say that currently the Mellinger controller is only usable when using the high-level commander command and that for anything else, the PID controller should be used. While, in theory, you should be able to use the high-level commander with flow, the main problem I have observed is with t...
by arnaud
Wed Apr 28, 2021 5:39 am
Forum: General discussions
Topic: Send pitch angle
Replies: 6
Views: 292

Re: Send pitch angle

Yes it is very probable the flow deck is causing problems there: the Kalman filter (EKF) is using the flow deck measurements to correct the attitude estimate: if you ask for a positive pitch and no forward acceleration is measured, the EKF will assume that the platform is not actually pitching and s...
by arnaud
Tue Apr 27, 2021 3:34 pm
Forum: General discussions
Topic: Send pitch angle
Replies: 6
Views: 292

Re: Send pitch angle

Hi, I am not sure what is happening on your rig, I cannot reproduce your problems as for me the attitude control looks good (a bit "nervous" but my rotation axis does not pass through the center of mass and has some friction so it might explain some oscillations). I tried to build a similar experime...
by arnaud
Thu Apr 22, 2021 3:00 pm
Forum: Support
Topic: Logging time onto sd card
Replies: 10
Views: 386

Re: Logging time onto sd card

I do not think the exFAT file-system is handled by the Crayflie. The SD-card needs to be formatted using the Fat(32) file-system.
by arnaud
Thu Apr 22, 2021 11:26 am
Forum: General discussions
Topic: Send pitch angle
Replies: 6
Views: 292

Re: Send pitch angle

Without the exact code, it is hard to know what is happening. I tried your experiment by holding the Crazyflie between my fingers keeping the pitch axis free-ish and the following code worked for me: it kept pitch at ~10degree for 2 seconds and at ~0 degrees for 2 seconds before stopping: # -*- codi...
by arnaud
Thu Apr 22, 2021 11:13 am
Forum: General discussions
Topic: initial state
Replies: 5
Views: 166

Re: initial state

It is now in the git repos so it is available if you compile and flash the firmware from source. It will be part of the next release but we do not know when that will be yet. You can also set the initial ekf position with the parameters and reset the EKF using parameter as well to get the current ve...