Fly through a inclined narrow gap

Firmware/software/electronics/mechanics
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Bran
Beginner
Posts: 2
Joined: Sat Oct 20, 2018 3:48 pm

Fly through a inclined narrow gap

Post by Bran » Fri Nov 08, 2019 2:31 am

Hi guys,
I'm working on a project that make the crazyflie fly through a inclined narrow gap(for example, 30 degrees roll angle), I successfully made the quadrotor track the trajectory and fly through the gap, but it seems that the crazyflie failed to recover from a certain roll anglem after the traverse flight, the crazyflie just fell down and re-initialized.

I'm using optitrack and crazyswarm, the controller I used is mellinger controller.

Does someone have some experience or information about ?

Think you all!



whoenig
Expert
Posts: 313
Joined: Mon Oct 27, 2014 2:55 am

Re: Fly through a inclined narrow gap

Post by whoenig » Mon Nov 11, 2019 7:18 pm

You might hit saturation limits of the motors, which can cause a crash. The maximum roll/pitch angles I ever achieved with standard motors are about 35 degrees.

To debug, I suggest using the uSD deck and logging important variables (in this case, the motor pwm's for example). You can use the same technique to check if the controller is actually tracking the desired trajectory well.

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