Frequent fly aways, toiletbowling and flips with Lighthouse positioning
Posted: Mon Nov 25, 2019 11:21 pm
Hello,
We have been working with the Crazyflie Lighthouse positioning system for the last couple of months and these problems has been haunting us.
There seems to be no real pattern to these failures, the takeoff->goto->land sequence works great sometimes, others fails miserably.
We have 6 functioning crazyflies with the exact same hardware - this does not seem like a hardware-related issue.
setup steps:
- Basestation positions are written and verified
- "stabilizer.controller" is set to 2 and verified
- "commander.enHighLevel" is set to 1 and verified
- "kalman.resetEstimation" is set to 1 and then 0 100ms later
- program waits for kalman variance to trend under 0.006
The basestations are at the "top right" and "bottom left" of the lighthouse calibration screen, large space.
Calibration done with Bitcraze latest script and the headset in the middle pointed to x.
sequence:
- takeoff(1.0, 1)
- goto(0.6, 0, 0, 0, 2, relative=False) example, changed for each drone
- land(0, 1) negative height tested to reduce bounce causing unwanted rotation
Our code works fine simulated, but we barley get a single good flight on the actual drones.
videos of some recent failures for reference: https://imgur.com/a/7BErlq6
failures observed:
- YAW twitching/drifting - slight movements which seems to come from the drone itself (ie. not outside forces) thows off the kalman filter and causes a crash/drift
- instant flip of death - either directly on the ground or ~10-20cm in the air
- tolietbowling - the drone circles around a somewhat-constant point for a couple of seconds before flying away
- fly aways - the most common issue. everything goes ok till the drone start to veer off course, slow and smooth movements until its outside the lighthouse area where it throws itself to the nearest wall.
Is this something experienced by the Bitcraze team or any other Lighthouse users?
If not, any recommendations for debugging this issue?
We have been working with the Crazyflie Lighthouse positioning system for the last couple of months and these problems has been haunting us.
There seems to be no real pattern to these failures, the takeoff->goto->land sequence works great sometimes, others fails miserably.
We have 6 functioning crazyflies with the exact same hardware - this does not seem like a hardware-related issue.
setup steps:
- Basestation positions are written and verified
- "stabilizer.controller" is set to 2 and verified
- "commander.enHighLevel" is set to 1 and verified
- "kalman.resetEstimation" is set to 1 and then 0 100ms later
- program waits for kalman variance to trend under 0.006
The basestations are at the "top right" and "bottom left" of the lighthouse calibration screen, large space.
Calibration done with Bitcraze latest script and the headset in the middle pointed to x.
sequence:
- takeoff(1.0, 1)
- goto(0.6, 0, 0, 0, 2, relative=False) example, changed for each drone
- land(0, 1) negative height tested to reduce bounce causing unwanted rotation
Our code works fine simulated, but we barley get a single good flight on the actual drones.
videos of some recent failures for reference: https://imgur.com/a/7BErlq6
failures observed:
- YAW twitching/drifting - slight movements which seems to come from the drone itself (ie. not outside forces) thows off the kalman filter and causes a crash/drift
- instant flip of death - either directly on the ground or ~10-20cm in the air
- tolietbowling - the drone circles around a somewhat-constant point for a couple of seconds before flying away
- fly aways - the most common issue. everything goes ok till the drone start to veer off course, slow and smooth movements until its outside the lighthouse area where it throws itself to the nearest wall.
Is this something experienced by the Bitcraze team or any other Lighthouse users?
If not, any recommendations for debugging this issue?