Search found 377 matches

by whoenig
Fri Jan 29, 2021 7:53 am
Forum: Support
Topic: Crazyflie does not fly properly
Replies: 29
Views: 1795

Re: Crazyflie does not fly properly

You can configure your logging variables at https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L14 and enable logging at https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L48. The information will be...
by whoenig
Wed Jan 27, 2021 9:18 pm
Forum: Developer Discussions
Topic: downloading a log file from the SD
Replies: 7
Views: 640

Re: downloading a log file from the SD

Thanks for the PR - we'll take a look (it will take a few days). For the speed we are aware that Python does not seem to be able to use the radio as efficiently as the CPP version. One option we are currently working on is a native C++ backend for the lowest-level communication with the Crazyradio o...
by whoenig
Wed Jan 27, 2021 9:07 am
Forum: External positioning systems
Topic: crazyflie motion capture system using vicon with ROS
Replies: 1
Views: 584

Re: crazyflie motion capture system using vicon with ROS

I recommend using the Crazyswarm, which has the Vicon Datastream SDK included (i.e., no need to run vicon_bridge separately). Also note that vicon_bridge uses an old version of the Datastream SDK. From your screenshot, it simply looks like you did not set the hostname/IP address. You either need to ...
by whoenig
Tue Jan 26, 2021 9:34 am
Forum: Support
Topic: Crazyflie does not fly properly
Replies: 29
Views: 1795

Re: Crazyflie does not fly properly

It seems like you are using the Crazyswarm? For LPS, it is better to use the PID controller, because the default gains of the Mellinger controller are very high (i.e., tuned for use with a motion capture system). You can change the controller at https://github.com/USC-ACTLab/crazyswarm/blob/master/r...
by whoenig
Sun Jan 24, 2021 8:34 pm
Forum: Developer Discussions
Topic: downloading a log file from the SD
Replies: 7
Views: 640

Re: downloading a log file from the SD

1. This is correct and can be an annoying limitation depending on your application. Improving this situation would require additional firmware changes. 2. The limit to 24 bytes is because of the CRTP + memory protocol format (and a physical limitation of the Crazyradio PA to only allow payloads of u...
by whoenig
Sun Jan 24, 2021 4:50 pm
Forum: Developer Discussions
Topic: downloading a log file from the SD
Replies: 7
Views: 640

Re: downloading a log file from the SD

This is not implemented in cflib, yet. In the firmware, the memory type is defined here: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/mem.h#L41. On the cflib side, this memory type is not yet included (see https://github.com/bitcraze/crazyflie-lib-python/blob/mast...
by whoenig
Sat Jan 23, 2021 8:32 pm
Forum: Developer Discussions
Topic: vector library
Replies: 1
Views: 242

Re: vector library

No, I recommend to use the `struct vec` type in math3d instead (see https://github.com/bitcraze/crazyflie-f ... th3d.h#L73), which has many supporting functions.
by whoenig
Fri Jan 22, 2021 9:37 am
Forum: Support
Topic: [SOLVED] Error when using the address 0xE7E7E7E7E4
Replies: 2
Views: 355

Re: Error when using the address 0xE7E7E7E7E4

The hardfault indicates that the firmware crashed for some reason. Could you please provide some more details on how you are running the experiments? In particular: 1) which firmware version are you using?, 2) How are you connecting to the Crazyflie (Python lib, crazyflie_ros, Crazyswarm)?
by whoenig
Thu Jan 21, 2021 10:57 am
Forum: Developer Discussions
Topic: Thrust Modelling of Crazyflie
Replies: 2
Views: 333

Re: Thrust Modelling of Crazyflie

You can find some approximate models in https://www.research-collection.ethz.ch/handle/20.500.11850/214143 (Chapter 3), https://lup.lub.lu.se/luur/download?func=downloadFile&recordOId=8905295&fileOId=8905299 (Appendix A), and https://arxiv.org/pdf/2012.05457.pdf (Table 1). One challenge is that the ...
by whoenig
Mon Jan 18, 2021 9:32 pm
Forum: General discussions
Topic: Question with fly with vrpn system
Replies: 3
Views: 627

Re: Question with fly with vrpn system

A frequent problem is that your VRPN coordinate system does not match the ROS coordinate system. Without flying, move your Crazyflie around while visualizing (e.g., using `rostopic echo` or `rviz`) the current coordinate system. Make sure that positive-z is indeed the upwards motion.