Fly Crazyflie 2.1 inside a 200mm pipe
Posted: Tue Jul 02, 2019 2:01 pm
Hi, guys!
Call me crazy, but I want to fly the Crazyflie 2.1 inside 300mm pipes! I have built a mockup pipeline to start experimenting with. First attempt was with what I have out of the box, including the Flow deck and the Multiranger deck, controlling with the joystick (through cfclient) and I failed miserably! Take a look:
https://www.youtube.com/watch?v=qXTAszrpZHY
I can tell we have got problems with turbulence and ground effects there. Anyway, I thought I could build a small cage, inspired in the Rolling Spider Mini Parrot, so it would help me be a little resilient to bumping, considering I would bump for sure. It got a little better, but still bad:
https://www.youtube.com/watch?v=JMazRG9Sos4
I have investigated the behavior of Crazyflie in these experiments by looking at the sensor values to try to understand the situation. The sensor seem to be working properly, even though the surface of the pipe is metallic. What I concluded is that I will need to craft a custom low level controller that can cope with the turbulence caused by the confined space inside the pipe. Before devoting a lot of time in this direction, I would like to ask for some guidance from you, in order not to waste precious resources:
1 - Is the low level custom controller the way to go here? Is there any other faster way?
2 - Have you heard of anyone that tried to do anything similar to this?
3 - Do you believe this is feasible?
Thank you in advance for any enlightenment.
Cheers!
Call me crazy, but I want to fly the Crazyflie 2.1 inside 300mm pipes! I have built a mockup pipeline to start experimenting with. First attempt was with what I have out of the box, including the Flow deck and the Multiranger deck, controlling with the joystick (through cfclient) and I failed miserably! Take a look:
https://www.youtube.com/watch?v=qXTAszrpZHY
I can tell we have got problems with turbulence and ground effects there. Anyway, I thought I could build a small cage, inspired in the Rolling Spider Mini Parrot, so it would help me be a little resilient to bumping, considering I would bump for sure. It got a little better, but still bad:
https://www.youtube.com/watch?v=JMazRG9Sos4
I have investigated the behavior of Crazyflie in these experiments by looking at the sensor values to try to understand the situation. The sensor seem to be working properly, even though the surface of the pipe is metallic. What I concluded is that I will need to craft a custom low level controller that can cope with the turbulence caused by the confined space inside the pipe. Before devoting a lot of time in this direction, I would like to ask for some guidance from you, in order not to waste precious resources:
1 - Is the low level custom controller the way to go here? Is there any other faster way?
2 - Have you heard of anyone that tried to do anything similar to this?
3 - Do you believe this is feasible?
Thank you in advance for any enlightenment.
Cheers!