Do some interactions/feedbacks between three crazyflies
Posted: Fri Jan 29, 2021 4:32 am
Hi everyone,
Currently I have three Crazyflies, but two of them are motorless (cuz I just want to hold them in each of my hand and move them by following another (with motor) Crazyflie). In my system, I use the LPS with TDOA2 mode (8 anchors), which means I have attached the loco decks on each Crazyflie. I also attached the LED-ring on one (with motor) Crazyflie. Regarding this, I would like to fly this Crazyflie and maybe hovering at any absolute height, while the others two that are held in my hand will also being moved to follow this Crazyflie. When these two Crazyflies in my hand can reach that hovering point, then the LED-ring on the first crazyflie, which is hovering now, will change the status/color.
So far, I have tried to use the Swarm to run all of the Crazyflies in parallel so that I can get the position of each Crazyflie at the same time, and then I can do the Realtime action as I mentioned above (changing the LED status). Now, I can get the position of each crazyflie. However, I'm still getting stuck on the Swarm thread. The crazyflie can fly as normal and I can also print out the positions of each, but I cannot do the Realtime feedback task that I want.
So I would like to ask whether I'm still in the right direction (I mean using the Swarm library to do so) or is there any other easier way to perform?
I would be appreciated for all suggestions.
Currently I have three Crazyflies, but two of them are motorless (cuz I just want to hold them in each of my hand and move them by following another (with motor) Crazyflie). In my system, I use the LPS with TDOA2 mode (8 anchors), which means I have attached the loco decks on each Crazyflie. I also attached the LED-ring on one (with motor) Crazyflie. Regarding this, I would like to fly this Crazyflie and maybe hovering at any absolute height, while the others two that are held in my hand will also being moved to follow this Crazyflie. When these two Crazyflies in my hand can reach that hovering point, then the LED-ring on the first crazyflie, which is hovering now, will change the status/color.
So far, I have tried to use the Swarm to run all of the Crazyflies in parallel so that I can get the position of each Crazyflie at the same time, and then I can do the Realtime action as I mentioned above (changing the LED status). Now, I can get the position of each crazyflie. However, I'm still getting stuck on the Swarm thread. The crazyflie can fly as normal and I can also print out the positions of each, but I cannot do the Realtime feedback task that I want.
So I would like to ask whether I'm still in the right direction (I mean using the Swarm library to do so) or is there any other easier way to perform?
I would be appreciated for all suggestions.