LPS System - Altitude Hold (z-position) Problem
Posted: Wed Sep 05, 2018 6:35 pm
Hi all,
We have LPS system installed in a room, exactly like in the starting guide, coordinates entered correctly (the bottom position of node 0 choosen to be origin, its coordinates seems like (0.0,0.0,0.15). There are 8 nodes, uploaded with the LPS Node Firmware (2018.01). For the time being, they are working on TWR method. When the Crazyflie (2.0, firmware 2018.01 is uploaded) placed in the area, everything seems fine in cfclient (nothing surprising, position estimated with a decent level of error). Yet, when we try to use it in position hold flight mode with a joystick (Logitech Gamepad, all configuration is done correctly and tried with flow deck in a separate experiment, working perfectly, both the deck and crazyflie), crazyflie can not maintain its altitude. Although its performance in x-y wise seems okay, we need to give thrust with in short time periods to maintain its z-position in a certain level. A video showing that behaviour can be seen there: (https://youtu.be/M9DG-QwRv00).
In addition, we decided to try it crazyflie-lib-python, autonomousSequence.py. Yet, there is again a constant problem with altitude. In the link there, you can see the default script running, of course with the correct address adjustment. It is supposed to be drawing a square at the height of 1.2 meters but although x-y coordinates seems fine, altitude changes drastically. (https://youtu.be/PNd5IALyATc)
I suspect that we should use latest version of crazyflie firmware maybe, compiling it in our computer. At that point, I have the question that should we also use the latest firmware for LPS nodes at the same time? Because nodes 2,5 and 7 (placed exactly like in the tutorial) are turning red (as I know, it means it does not emitting TWR responds) are problematic when cf is uploaded with latest version of firmware but nodes are on the 2018.01 firmware. When they both in 2018.01, everything is fine. Is it possible that both firmwares should be at the latest version for a decent result?
Thank you in advance,
We have LPS system installed in a room, exactly like in the starting guide, coordinates entered correctly (the bottom position of node 0 choosen to be origin, its coordinates seems like (0.0,0.0,0.15). There are 8 nodes, uploaded with the LPS Node Firmware (2018.01). For the time being, they are working on TWR method. When the Crazyflie (2.0, firmware 2018.01 is uploaded) placed in the area, everything seems fine in cfclient (nothing surprising, position estimated with a decent level of error). Yet, when we try to use it in position hold flight mode with a joystick (Logitech Gamepad, all configuration is done correctly and tried with flow deck in a separate experiment, working perfectly, both the deck and crazyflie), crazyflie can not maintain its altitude. Although its performance in x-y wise seems okay, we need to give thrust with in short time periods to maintain its z-position in a certain level. A video showing that behaviour can be seen there: (https://youtu.be/M9DG-QwRv00).
In addition, we decided to try it crazyflie-lib-python, autonomousSequence.py. Yet, there is again a constant problem with altitude. In the link there, you can see the default script running, of course with the correct address adjustment. It is supposed to be drawing a square at the height of 1.2 meters but although x-y coordinates seems fine, altitude changes drastically. (https://youtu.be/PNd5IALyATc)
I suspect that we should use latest version of crazyflie firmware maybe, compiling it in our computer. At that point, I have the question that should we also use the latest firmware for LPS nodes at the same time? Because nodes 2,5 and 7 (placed exactly like in the tutorial) are turning red (as I know, it means it does not emitting TWR responds) are problematic when cf is uploaded with latest version of firmware but nodes are on the 2018.01 firmware. When they both in 2018.01, everything is fine. Is it possible that both firmwares should be at the latest version for a decent result?
Thank you in advance,