How to generate trajectory

Discussions about autonomous flight in general, regardless of positioning method
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HC766
Beginner
Posts: 17
Joined: Wed Oct 09, 2019 2:16 pm

How to generate trajectory

Post by HC766 »

Hi guys, I'm working on crazyflie autonomous flying recently, I tried to use https://github.com/whoenig/crazyflie_ro ... con.launch and https://github.com/whoenig/crazyflie_ro ... h_level.py to fly a figure 8 which .csv file is already created.

I would like to generate a new trajectory by myself using https://github.com/whoenig/uav_trajectories. But I am not very clear about the procedure to generate trajectory using this tool. Should I first to generate a .csv file about the waypoitns? If so, how can I build .csv file? Please help me.

Thanks a lot!

kimberly
Bitcraze
Posts: 470
Joined: Fri Jul 06, 2018 11:13 am

Re: How to generate trajectory

Post by kimberly »

Hi!

So the projects you are trying to work with is not something we developed in-house but is created by one of our active community members Wolfgang Whoenig. If you want to work with the ros package for the crazyflie and crazyswarm, please get started on the documentation here: https://crazyswarm.readthedocs.io/en/latest/index.html.

If you do not need to use ROS and crazyswarm, there are also ways to get it to fly autonomously with our python library. If you are interested, please let us know what kind of positioning you are using, what you want to achieve and we can try to push you in the right direction.

HC766
Beginner
Posts: 17
Joined: Wed Oct 09, 2019 2:16 pm

Re: How to generate trajectory

Post by HC766 »

Hi, sorry for the lately reply. I am using vicon motion capture system to position cf now. I would like to design the trajectory for cf like this:

x = sin(t), y = cos(2t), z = 5. After trajectory designed, I would like to send the trajectory to cf onboard controller(like mellinger controller) and then tracking the trajectory and compare the accuracy of each dimension.

Do you have any advice for this? Thanks!

whoenig
Expert
Posts: 327
Joined: Mon Oct 27, 2014 2:55 am

Re: How to generate trajectory

Post by whoenig »

You can follow the example at https://github.com/whoenig/uav_trajecto ... tion-pairs to generate your trajectory (csv-file). This file can be uploaded to the CF before the flight.

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