Flow deck + high level control under ROS

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wydmynd
Beginner
Posts: 16
Joined: Thu Dec 06, 2018 9:25 am

Flow deck + high level control under ROS

Post by wydmynd » Wed Jan 30, 2019 1:38 pm

hello
trying using high level control with flow deck in ROS: test_high_level.py (https://github.com/whoenig/crazyflie_ro ... h_level.py)
the drone launches straight into the wall (sideways) or launches very unstable, similar to the video in this post viewtopic.php?f=11&t=2652&p=16035#p16035
at the same time, taking off and flying using cmd_hover worked fine.

I saw that @whoenig deleted some lines to reset the EKF , I returned these lines and now the drone manages to take off successfully most of the time.

Code: Select all

cf.setParam("kalman/initialX", 0)	
cf.setParam("kalman/initialY", 0)	
cf.setParam("kalman/initialZ", 0)	
cf.setParam("kalman/resetEstimation", 1)
     
I will be very happy to understand what's going on here - if you can explain... much thanks!

whoenig
Expert
Posts: 309
Joined: Mon Oct 27, 2014 2:55 am

Re: Flow deck + high level control under ROS

Post by whoenig » Wed Jan 30, 2019 11:35 pm

test_high_level.py was only tested together with https://github.com/whoenig/crazyflie_ro ... con.launch, which in turn runs https://github.com/whoenig/crazyflie_ro ... py#L14-L23. Since you just use the flow-deck, you need those lines in test_high_level.py. Basically, the flow-deck cannot measure absolute position, so your absolute estimate will drift over time. You have to reset the absolute values before taking off (which is what those lines are doing).

For anything related to crazyflie_ros, feel free to open an issue on github.

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