First, I am having trouble setting several trajectories. This example demonstates how to upload, set and fly along a single trajectory, but I have been unable to generalize this to more than one.
- "upload_trajectory" can be used twice, with two different IDs. The first trajectory will be usable as before. However, the second trajectory will somehow include both original trajectories - that is, calling "start_trajectory" with the ID of the second trajectory will cause the drone to first fly along the first trajectory, then along the second.
- Supsecting that this is because the "offset" argument taken by "define_trajectory", set to "0" in the example, I have replacing this value with several estimates of the length of the first trajectory when uploading the second trajectory. However, all values tried thus far result instead in the drone immedately stopping its rotors when calling "start_trajectory" with the ID of the second trajectory.
Second, I am hoping to upload several trajectories while in flight, such that the memory capacity of the Crazyflie might be exceeded. Any given trajectory is likely to be used only once, so overwrting older ones in memory is acceptable, so long as the last two or three trajectories are preserved. Is this supported?