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Hi,

I want to create a swarm sequence with 3 crazyflie using loco position. I use the python script hl-commander-swarm.py for test. My steps:

1- I tested with cfclient to verify the position (its correct) - i made the verification for each drone
2 - I tested individually the script (using only one drone). No problem. Perfect location, perfect flight, perfect take off and land.
3 - Used the script with 2 drone. I have always the same problem, one realize a perfect mission, but the second realize always a crash.

I lost several several props.

I change the radio link.
'radio://0/79/2M/E7E7E7E7E3',
#'radio://0/81/2M/E7E7E7E7E5',
'radio://0/80/2M/E7E7E7E7E8',

What is the reason? Do you have other swarm example with loco position? I am using the last firware, etc. I tried everything but now i dont other suggestions.

Hi,

Are you sure you are in TDoA2 mode and not in TWR?

One thing you could test is to have one Crazyflie flying the sequence and the two other switched-on on the side. This would verify if the problem comes from the localisation or from something else.

One note for the radio links: the best is to keep all Crazyflie that share one radio on the same radio channel, so in your case this would be a better setup:
'radio://0/80/2M/E7E7E7E7E3',
'radio://0/80/2M/E7E7E7E7E5',
'radio://0/80/2M/E7E7E7E7E8',

Also, at 2M the radio occupies 2 channels, so if you later add new radio the channels should be spaced by at least 2 but we usually space them by 5 or 10 to limit any chance of interference.

Thanks a lot Arnaud

Sorry the delay, but i tried all your suggestions.

1 - I confirm that i am using TDoa2

2 - Change radio configurations
'radio://0/80/2M/E7E7E7E7E3',
'radio://0/80/2M/E7E7E7E7E5',
'radio://0/80/2M/E7E7E7E7E8',

3 - I tested the sequence with one drone and two drone twiched-on on the ground. I have no problem with the sequence (one drone).


The script .\hl-commander-swarm.py is work fine right? Or do you have other suggestins? scf.cf.param.set_value('stabilizer.controller', '1') is right?

Thanks a lot

Hi Again,

After your test i made the sequence with 2 CFs and 3 CFs. Work perfectly.

Thanks a lot Arnaud. I believe the error is the radio configuration.