I was just wondering if it is possible for me to use MotionCommander within a swarm system. I would like to continuously use the Velocity setpoints for my drones instead of positioning.
Also, I see that there is a SetPointThread in Motion_Commander.py which (from my understanding) is so continuously send the actions to the drone. However, there isn't any example for me to understand how I am able to use it. I have a CSV file (which I'm able to read) as an input but I'm unsure how to use this class in a bigger scale.
Cheers.
Combining Motion Commander with Swarm
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Re: Combining Motion Commander with Swarm
Yes it is possible, a good starting point is maybe examples/swarm/swarmSequence.py
In run_sequence(), use the MotionCommander instead of sending setpoints directly.
You are right, the thread is sending the setpoints for you.
run_sequence() will be called for each Crazyflie, and this will create one instance of the MotionCommander (and one setpoint thread) for each Crazyflie.
In run_sequence(), use the MotionCommander instead of sending setpoints directly.
Code: Select all
def run_sequence(scf, sequence):
# We take off when the commander is created
with MotionCommander(scf) as mc:
...
run_sequence() will be called for each Crazyflie, and this will create one instance of the MotionCommander (and one setpoint thread) for each Crazyflie.