Search found 395 matches
- Sat Apr 03, 2021 2:28 pm
- Forum: Lighthouse positioning system
- Topic: Lighthouse Deck Red and Blue LED Remaining On
- Replies: 7
- Views: 3023
Re: Lighthouse Deck Red and Blue LED Remaining On
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?
- Thu Apr 01, 2021 4:16 pm
- Forum: Developer Discussions
- Topic: How to obtain thrust from PWM
- Replies: 11
- Views: 4753
Re: How to obtain thrust from PWM
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 ...
- Thu Apr 01, 2021 9:06 am
- Forum: Developer Discussions
- Topic: How to obtain thrust from PWM
- Replies: 11
- Views: 4753
Re: How to obtain thrust from PWM
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...
- Thu Apr 01, 2021 8:52 am
- Forum: External positioning systems
- Topic: StdDev of External Measurements
- Replies: 5
- Views: 12046
Re: StdDev of External Measurements
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...
- Thu Apr 01, 2021 7:39 am
- Forum: Lighthouse positioning system
- Topic: Lighthouse Deck Red and Blue LED Remaining On
- Replies: 7
- Views: 3023
Re: Lighthouse Deck Red and Blue LED Remaining On
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...
- Thu Apr 01, 2021 6:56 am
- Forum: Developer Discussions
- Topic: How to obtain thrust from PWM
- Replies: 11
- Views: 4753
Re: How to obtain thrust from PWM
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...
- Mon Mar 29, 2021 11:52 am
- Forum: External positioning systems
- Topic: StdDev of External Measurements
- Replies: 5
- Views: 12046
Re: StdDev of External Measurements
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...
- Mon Mar 29, 2021 9:25 am
- Forum: Developer Discussions
- Topic: external orientation as quaternion
- Replies: 3
- Views: 1770
Re: external orientation as quaternion
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...
- Mon Mar 29, 2021 9:18 am
- Forum: External positioning systems
- Topic: What is the best approach to control CrazyFlies in a Vicon or Optitrack environment.
- Replies: 3
- Views: 43494
Re: What is the best approach to control CrazyFlies in a Vicon or Optitrack environment.
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...
- Wed Mar 24, 2021 9:26 am
- Forum: General discussions
- Topic: SyncCrazyflie object has no attribute scf
- Replies: 5
- Views: 1861
Re: SyncCrazyflie object has no attribute scf
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 ...