What does cf.param.set_value('flightmode.posSet', '1' means?

[chilli65]

In swarmSequence,py, there is cf.param.set_value('flightmode.posSet', '1') but not in swarmSequenceCircle.py. What is the effect of setting this parameter? Does it change the behavior of hover command? Is it mandatory for lps?

[tobias]

Unfortunately there is some legacy involved which will be cleaned up during the CrazySwarm merge we have ahead of us. To answer your questions the swarmSequence.py controls in position mode by setting cf.param.set_value('flightmode.posSet', '1') while swarmSequenceCircle.py controls in velocity mode.

[chilli65]

Thanks. Possible to have some velocity control while in position mode to have some form of angular flight?

[arnaud]

We have experimented with a non-linear quaternion based controller made by Mike hammer at ETH that allows to send setpoints with position, velocity and acceleration, this allows to better follow pre-calculated trajectory. This controller has not been merged in master but we have it in the ICRA branch: https://github.com/bitcraze/crazyflie-f ... ller_new.c.