Optitrack and Crazyflie sloppy takeoff
Posted: Fri Apr 21, 2017 1:42 pm
We are working on a setup in which we try to hover the Crazyflie 2.0 by using Optitrack for tracking. Optitrack Motive is sending out coordinates via VRPN and we are running an Ubuntu installation with a VRPN Client which is translating the Optitrack coordinate system to standardized coordinates. RoboViz is showing the motion paths very accurately and in line with tracking in Motive. However, CF's response is not quite accurate.
As you can see in this video the take off is very sloppy. CF seems to ignore the tracking system and takes off in a seemingly random direction. After a while it seems like it's suddenly using the tracking data and directs itself back to the target location.
https://www.youtube.com/watch?v=sGau9ur ... e=youtu.be
Tracking is equally acurate in the whole setup and RoboViz is showing correct paths so it doesn't seem to be a tracking issue, more of a coordination issue on the CF.
Any pointers or insights would be greatly appreciated
As you can see in this video the take off is very sloppy. CF seems to ignore the tracking system and takes off in a seemingly random direction. After a while it seems like it's suddenly using the tracking data and directs itself back to the target location.
https://www.youtube.com/watch?v=sGau9ur ... e=youtu.be
Tracking is equally acurate in the whole setup and RoboViz is showing correct paths so it doesn't seem to be a tracking issue, more of a coordination issue on the CF.
Any pointers or insights would be greatly appreciated