RPYT Commands via ROS
Posted: Sun Jun 30, 2019 4:09 am
Hello,
I plan on using the "CPPM Emulation" (Generic Setpoint CRTP Port) interface in order to send Euler angle + Thrust commands via ROS.
I have a few questions:
1. From the documentation I noticed that Roll and Pitch are in degrees but Yaw is degrees/sec. I understand that this is due to drift issues in yaw? Is there another flight mode that can handle a yaw command rather than yaw rate?
2. What is the recommend rate to send commands over this protocol (remember, I will be using ROS)? According to this link:
https://wiki.bitcraze.io/doc:crazyflie: ... to_control
the attitude loop rate is 250Hz, so can the communication architecture handle such high rate using the CrazyRadio dongle on windows/linux?
3. Which topic should I use on the ROS end to send commands to this flight mode?
Kind Regards,
Haron
I plan on using the "CPPM Emulation" (Generic Setpoint CRTP Port) interface in order to send Euler angle + Thrust commands via ROS.
I have a few questions:
1. From the documentation I noticed that Roll and Pitch are in degrees but Yaw is degrees/sec. I understand that this is due to drift issues in yaw? Is there another flight mode that can handle a yaw command rather than yaw rate?
2. What is the recommend rate to send commands over this protocol (remember, I will be using ROS)? According to this link:
https://wiki.bitcraze.io/doc:crazyflie: ... to_control
the attitude loop rate is 250Hz, so can the communication architecture handle such high rate using the CrazyRadio dongle on windows/linux?
3. Which topic should I use on the ROS end to send commands to this flight mode?
Kind Regards,
Haron