I have been trying to integrating Mike Hammer's nonlinear quaternion controller into the firmware for more aggressive control. I have looked into both ICRA demo source code and Mike Hammer's code on https://github.com/mikehamer/crazyflie- ... controller, and modified parts of the firmware to include the new controller.
However, whenever I used my custom firmware (or the crazyflie-firmware-experimental on https://github.com/bitcraze/crazyflie-f ... /icra-2017), I started experiencing an annoying problem: Crazyflie would restart randomly when its landed or flying.
Whenever this happens, it does not show any "ASSERT FAIL" , it just stop flying, restart and immediately starts reconnect to my ROS server again. The only part I have modified in my custom firmware is adding the code for the nonlinear controller and "drag" term in the kalman filter, and I am currently using a modified CrazyflieROS to fly with Vicon motion capture system.
I suspect that this may be a numerical issue in the new controller because I have never experienced crazyflie restarting midair before. However, I have tried using
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DEBUG_PRINT
So I have two questions:
1) Is there anyone who has experience similar problem? (restart when having crazyflie-firmware-experimental)
2) Where in the firmware will trigger a restart?
Thanks in advance,
Philip