Crazyflie onboard position controller

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harrrafa
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Joined: Fri May 17, 2019 11:08 pm
Location: Los Angeles,. USA

Crazyflie onboard position controller

Post by harrrafa » Wed Jul 31, 2019 11:47 am

Hello everyone,
I am trying to obtain aruco marker based position control by sending setpoint and ext pose to the crazyflie and want to play with the onboard position controller for higher stability. Is position_controller_pid.c in the firmware the default onboard position controller? Do I need to make any other edits in the firmware to choose to use it for position control?
Thank you.



kimberly
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Posts: 107
Joined: Fri Jul 06, 2018 11:13 am

Re: Crazyflie onboard position controller

Post by kimberly » Fri Aug 02, 2019 7:24 am

Hi!

I haven't tried this myself but I know that here they tried to control a Crazyflie with aruco marker with a webcam in this blogpost https://www.bitcraze.io/2015/09/getting ... -new-york/ , which is I guess the same principle of what you are mentioning. Here is the blog post about it, but it is quite old though so i'm not sure if it will work anymore, but can maybe provide some inspiration.

Another way is to play around with the crazyflie_ros package (https://github.com/whoenig/crazyflie_ros) and see if you can have a work around with creating some ROS infrastructure with the aruco marker detection (like with http://wiki.ros.org/aruco_detect ?). Then I think you probably do not need to change anything the firmware at all I believe.

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