Using Lighthouse swarming with some question?
Posted: Mon Nov 30, 2020 8:34 am
Hello, I am a student, and now I want to use 12 crazyflies(one channel)to do a swarming flight show. I use two Lighthouse V1 base stations for the positioning system. I encountered many problems during this process. I would like to ask the official for such problems:
1. Is there a height limit for the base stations? Our planned maximum flying altitude is above 2.5m. We use a tripod to place the base station at a height of about 3.2m, but found that flying above 2m is very unstable (the horizontal distance between the two base stations is about 5m)
2. The reference code ishttps://github.com/aqqz/crazyflie-lib-p ... equence.py, but I found that this script cannot be run directly. The cluster will be turned over directly. The console print step x but the cf don`t fly (so big delay). My solution is to let each cf use hlcommander to take off once(i write a srcipt named prepare.py), because i see the demo using hlcommander, and then the cluster can fly. My firmware And cflib version are both 2020.09
3. the kalman fliter`s output variance often over threhold so that the cf can`t fly , if i restart the cf it will work sometime, i can`t explain this symbol is hardware problem.https://github.com/aqqz/crazyflie-lib-p ... #L105-L143
4. Even if swarming is successful, there will be a high probability of a few planes crashing midway, and the stability of the entire system is poor.
These problems have troubled me for nearly two months, but there is still no good solution.
1. Is there a height limit for the base stations? Our planned maximum flying altitude is above 2.5m. We use a tripod to place the base station at a height of about 3.2m, but found that flying above 2m is very unstable (the horizontal distance between the two base stations is about 5m)
2. The reference code ishttps://github.com/aqqz/crazyflie-lib-p ... equence.py, but I found that this script cannot be run directly. The cluster will be turned over directly. The console print step x but the cf don`t fly (so big delay). My solution is to let each cf use hlcommander to take off once(i write a srcipt named prepare.py), because i see the demo using hlcommander, and then the cluster can fly. My firmware And cflib version are both 2020.09
3. the kalman fliter`s output variance often over threhold so that the cf can`t fly , if i restart the cf it will work sometime, i can`t explain this symbol is hardware problem.https://github.com/aqqz/crazyflie-lib-p ... #L105-L143
4. Even if swarming is successful, there will be a high probability of a few planes crashing midway, and the stability of the entire system is poor.
These problems have troubled me for nearly two months, but there is still no good solution.