Waypoint following using the Crazyflie 2.0

Discussions about autonomous flight in general, regardless of positioning method
arnaud
Bitcraze
Posts: 1662
Joined: Tue Feb 06, 2007 12:36 pm

Re: Waypoint following using the Crazyflie 2.0

Post by arnaud » Wed Jan 24, 2018 9:50 am

It looks great! Thanks for sharing the video :-).

Out of curiosity, why do you have a string hanging from the CF?

Just to be clear about the start orientation: this is currently a hard requirement of the system, so it is not a bug but more a property of the UWB positioning system. In theory it would be possible to start in any orientation and guess quickly the position when the CF is moved or when it takes of, but I am not sure how good it can be made.

kross787
Beginner
Posts: 9
Joined: Thu Jan 18, 2018 3:12 pm

Re: Waypoint following using the Crazyflie 2.0

Post by kross787 » Wed Jan 24, 2018 5:46 pm

Hi Arnaud,

No problem, and thanks! Noted on the requirement, it doesn't bother us for what we are trying to do.

The string was there to test the positioning control we put together (we pull the the CF to another location and watch it come back).

Position control is working really well now, we are working now on improving our algorithm to remove the z range finder whilst maintaining good z position accuracy (within the limits of the LPS).

Thanks!

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