HITL and SITL for crazyflie

Discussions about all things Bitcraze
Posts: 1
Joined: Tue Aug 28, 2018 5:57 pm

Re: HITL and SITL for crazyflie

Post by taochen_bitcraze » Tue Aug 28, 2018 6:09 pm

Hello all, I have downloaded the package and successfully compiled everything. I am trying run SITL simulation.
However, when I launch the mav.launch launch file, and then run the test_high_level.py python script, it gave me warnings like "Don't know ack: Port 8 Channel: 0 Len: 5" every time it sends out a request and nothing else happens (the vehicle doesn't take off). What am I doing wrong here? All I did was:
1. start ./cf
2. launch mav.launch
3. run the python script

I spent all day yesterday trying to find out what the problem was, I noticed that the motor commands are sent back with header port 09 and channel 0 and that's within the power distribution module. But I still don't understand how it's being sent back to Gazebo. (The response msg for taking off doesn't contain the motor commands.)

I tried manually sending service requests, it gave me the same warnings.

Anyone could help? Thanks!

Posts: 15
Joined: Mon Apr 16, 2018 1:05 pm

Re: HITL and SITL for crazyflie

Post by wuwushrek » Thu Jan 17, 2019 9:00 am

Hello all,
Sorry @taochen_bitcraze for the very late response. I guess you have figured your way out of that situation.
Anyways I recently pushed on the master branch something more compatible with recent version of bitcraze master branch firmware + full compatibility with crazyflie_ros (which wasn't the case earlier), some utilites and technically speaking it should be faster. Hopefully the documentation on the github isn't that bad.
Hope to get some feedback from some of you about it.

Posts: 2
Joined: Wed Mar 11, 2020 4:35 pm

Re: HITL and SITL for crazyflie

Post by Marco_Marino » Wed Mar 11, 2020 7:27 pm

wuwushrek wrote:
Wed Jul 18, 2018 10:07 pm
I have recently push some modifications on the multi-uav-final branch. You will have to clone/pull the project and go to that branch for sim_cf. Be sure that the submodules external/crazyflie_comm and crazyflie-firmware also points to multi-uav-final branch. This branch breaks most of the things implemented in the master branch that's why I wanted to be fully tested before making it the master branch. We managed to fly 7 crazyflie with this new version of SITL. Check the branch readme.md of crazyflie_gazebo for testing procedure. Message me or leave a message here for implementation details or erratic behavior.

Where can I find the code for this project?

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