Would crazyflie work for reinforcement learning?
Posted: Tue Mar 27, 2018 10:31 pm
I am considering getting a crazyflie w/ flowdeck, primarily to test reinforcement learning. I have a few questions about the system:
It looks like the standard crazyflie python controller (e.g. motioncommander) allows for giving commands in terms of either throttle/yaw/pitch/roll or move/rotate commands. There is no way to directly control the 4 motor outputs though correct? In which case, would it be possible to implement something that does this by editing the firmware?
Also, what sort of feedback is available on the python level? I don't see any real feedback in motioncommander. I would ideally need at least x/y/z/theta1/theta2/theta3 feedback on a timescale similar to the control signal. Is there a way to get these from the Kalman filter from the drone?
The goal of the project would be to autonomously learn a flight controller (rather than using the inbuilt firmware one) - so the more data available, the better!
It looks like the standard crazyflie python controller (e.g. motioncommander) allows for giving commands in terms of either throttle/yaw/pitch/roll or move/rotate commands. There is no way to directly control the 4 motor outputs though correct? In which case, would it be possible to implement something that does this by editing the firmware?
Also, what sort of feedback is available on the python level? I don't see any real feedback in motioncommander. I would ideally need at least x/y/z/theta1/theta2/theta3 feedback on a timescale similar to the control signal. Is there a way to get these from the Kalman filter from the drone?
The goal of the project would be to autonomously learn a flight controller (rather than using the inbuilt firmware one) - so the more data available, the better!