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Flow deck + high level control under ROS

Posted: Wed Jan 30, 2019 1:38 pm
by wydmynd
trying using high level control with flow deck in ROS: ( ...
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!

Re: Flow deck + high level control under ROS

Posted: Wed Jan 30, 2019 11:35 pm
by whoenig was only tested together with ... con.launch, which in turn runs ... py#L14-L23. Since you just use the flow-deck, you need those lines in 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.