Bitcraze Forums

Was the LH deck installed during flashing? In the progress bar at the bottom of the flash dialog, does it actually show you that it attempts to flash the LH deck when you upgrade to 2021.03?

I can think of multiple reasons: 1. Unbalanced rotors, i.e., during hover your PWM is actually not the same for all motors. You can look at m1-m4 and apply the transformation to each of them. 2. Numerical issues. The paper only shows 2 digits. Here are the full parameters: C_00 = 11.093358483549203 ...

The accelerometer is in the body frame using a right-handed coordinate system with z-axis pointing up. You can also test this pretty easily if you use the CFClient and log the "acc.{x,y,z}" variables and visualize them in the Plotter tab. This signal tends to be pretty noisy and you will h...

Glad you got it working so far! The order does not matter - logging variables will remain independent on what estimator you choose and you can switch estimators at any time. How do you push external measurements from Vicon to the Crazyflie? Do you send positions or full pose information? To me, it s...

You need to update the firmware with the LH deck installed using the latest cfclient and release 2021.03. You can find instructions for the update procedure at https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw. If you updated your firmware using an older c...

All your guesses are correct! For the last one (battery voltage compensation), this is just an approximation and not necessarily up-to-date with the current hardware. You can find a better mapping in Table 1, https://arxiv.org/pdf/2012.05457.pdf, which was obtained from a force stand. We are plannin...

1. Yes, https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/crtp_localization_service.c#L115-L116. You can also query the current values of locSrv.extPosStdDev and locSrv.extQuatStdDev using the parameter subsystem. 2. There is an adaptive mode, where the stddev is based on th...

This strange signage is only true for the euler angle logging variables (stateEstimate.{roll,pitch,yaw}) and it is there for historical reasons and was not changed to keep backwards compatibility. The on-board quaternion follows the regular right-handed rule, which is also used by VICON. Thus, you c...

If you are already using ROS, you could just use the Crazyswarm. You are not forced to use its Python API - you can directly communicate with the server using publishers and subscribers via rospy. For your question: this is unfortunately not easily possible, because the python-lib does not support b...

You are not forced to use the "with" statement. It essentially provides some more safety to you, as it will automatically clean-up if you leave the scope for any reason (e.g., an exception was thrown). You can, however, always create a Swarm object manually and replicate the with behavior ...