Hello All
I am working on a quadcopter based swarm project for my college thesis. I am running the crazyflie as a controller for a bigger quad. I need to run 6 in swarm. So far I have tuned the quadcopter pid's and am getting very good position hold with one quad.
As soon as i add multiple quads the performance degrades. My setup is as follows
CF1 - ID - e7e7e7e701, chan - 80, Data Rate - 2M, Radio# - 0
CF2 - ID - e7e7e7e702, chan - 80, Data Rate - 2M, Radio# - 0
CF3 - ID - e7e7e7e703, chan - 20, Data Rate - 2M, Radio# - 1
CF4 - ID - e7e7e7e704, chan - 20, Data Rate - 2M, Radio# - 1
Even running 2 degrades performance, whether it be using time slicing or multiple radio's. Running 3 makes the performance terrible.
Running 4 together always ends in a crash.
I am using ros as the base, running
http://wiki.ros.org/crazyflie to communicate with the cf's
I am using optitrack flex 13 mocap system. There is no problem with the positioning. Confirmed with rosbag(data recording tool). I even reduced the frequency of the controller to 25Hz for each quad. Still the outcome is the same.
I checked all sources of data and the likely conclusion was that the system was not responding to commands. I was going through my rosbag and saw the command given to the cf was to pitch forward but it kept piching backward (concluded from the pose ) and crashed into the wall. So what i assume is that the crazyflie is not receiving the command. Either it is not being sent or it is not recieved.
Since the distance from the Cf Radio PA and the quads dont excede 4 meters, im leaning towards the idea of not sending pate due to some threading issue.
Could someone help me out with this issue ?
Regards
Vivek