Items: Crazyflie 2.1 Starter Kit and Lighthouse Deck w/ HTC cameras
Goal: Autonomously control Crazyflie using attitude based control and parameter estimates (mass/inertia).
- State Estimation: I am interested in getting the following state information:
linear position, velocity, acceleration in world frame [WF], and angular position, velocity, acceleration in body-frame [BF].
I believe Lighthouse will provide WF linear position and orientation of the system. WF velocities is provided from state estimator. I am not sure how/where I can extract angular body-rate velocities and body-rate accelerations as well as and linear acceleration in the world frame . Also, if my understanding is wrong on one of these points, do correct me.
- Control Design: I want to design a control input that generates the commanded thrust as a function of the mass. Taeyoung Lee's controller for instance uses the mass property. Assuming I have an external estimator for the mass, I want to incorporate this into my thrust calculation. Please advise which controller currently in the API can do this. If not, where do I make my changes.
- Items: The equipment that I listed above, are they enough for the goals listed in this thread? Let me know what more is required from my end.