Bitcraze Forums

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 ...

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...

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...

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...

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.

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)?

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 t...

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.

For the integration you can use the `cmd_fullstate` topic. For the octomap, you can have a look at octomap_server, which allows you to build maps easily if you add motion capture markers to your RGB-D camera (or similar sensor).

(1) The mellinger controller has very high gains in order to accurately track a trajectory. In practice, this means that you'll need both a very accurate state estimate (it was tuned for a VICON motion capture system) and an accurate setpoint with higher-order terms (velocity, accelerations). It sho...