i'm having trouble with the standard go_to command of the python library.
In 20-40% of the tries a simple go_to(1,0,0.8) is resulting in this behaviour: https://youtu.be/FbTOqZQXPFY
Setup is one drone in a LPSv1 with two stations.
Code is the standard position_commander_demo.py where the simple sequence is rewritten like this:
Code: Select all
def simple_sequence(): with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf: with PositionHlCommander(scf) as pc: pc.go_to(1, 0.0,0.8) pc.go_to(0, 0.0,0.8)
The offset of the drone to the correct flightpath can be either to the upper right or lower right. But the distance is always the same. There is no randomness in how far away from the actual path the drone is flying.
This behaviour only occurs when flying forward or to the left. Everything is working when flying backwards or to the right.
It seems as if the LPS is failing but we checked it by placing the drone on a chair and moving it through the flying zone. The values were perfectly fine and accurate.
We tried multiple different drones, no change. Also tried different firmwareversions (including the newest of april).
When we logged the data (position stateestimate x,y and z) you can see that the drone thinks its on the right flightpath until it checks that it isn't and has to correct the path as seen in the video.
Is there something we missed or should try? Can somebody reproduce this in his/her setup?
Thanks a lot!