CF hardware modifications affect on the CF Client Qualisys Tab and Crazyswarm

Discussions related to positioning systems where the position is calculated outside the Crazyflie and sent to the device using radio, including MoCap systems
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cafeciaojoe
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Posts: 81
Joined: Mon Jun 18, 2018 2:37 am

CF hardware modifications affect on the CF Client Qualisys Tab and Crazyswarm

Post by cafeciaojoe »

Hi everyone,

I have been playing around with the qualisys tab in the CF client and was wondering if I need to change anything in the code if i change the motors, propellors and /or the arm length of the crazyflie.

What If I use the crazyswarm system with these modifications?

The modifications in questions are
Larger propellors
https://www.banggood.com/Eachine-Tiny-Q ... rehouse=CN

Different Motors
https://newbeedrone.com/collections/mot ... hed-motors

Potentially longer arms by 5mm

Best Regards
Joe
PhD Student
RMIT University
School of Design
http://www.cafeciaojoe.com
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arnaud
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Joined: Tue Feb 06, 2007 12:36 pm

Re: CF hardware modifications affect on the CF Client Qualisys Tab and Crazyswarm

Post by arnaud »

Hi Joe,

If you change too much the hardware of the Crazyflie you will need different tuning of the controller, Crazyswarm is handling that by setting up the controller parameters during connection. the Crazyflie client currently does not have this functionality: if you need different controller configuration when using the Crazyflie client you have to set them manually in the parameter tab or to compile the crazyflie firmware with default values that fits your hardware.

That said, the Qualisys tab currently uses the PID controller that is pretty resilient to noise and hardware change, so it is likely that your modified Crazyflie will fly well out of the box.
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