Completely Autonomous Flight

Firmware/software/electronics/mechanics
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gtmtg
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Joined: Mon Dec 30, 2013 8:54 pm

Completely Autonomous Flight

Post by gtmtg » Sat Feb 08, 2014 11:22 pm

Hi,

I'm using the Crazyflie for a research project. I've already made the necessary hardware and firmware modifications, and I wrote a Python program to control the Crazyflie autonomously. Essentially, I'm checking the values of two analog sensors (attached to the Crazyflie, currently done throught the logging framework) and, if they're below a certain threshold, executing a certain escape maneuver within a control loop (so the maneuver's duration is based on the value of the sensors), before executing a separate landing maneuver. This is done each time the sensor values drop below the threshold.

However, I'm finding that the wireless communication latency is a little too high, and so I'm trying to adapt the algorithm to run on the Crazyflie itself. Any advice/ideas/examples?

Thanks in advance!

tobias
Bitcraze
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Location: Sweden

Re: Completely Autonomous Flight

Post by tobias » Thu Feb 13, 2014 2:36 pm

Nice, would like to see what you done so far, any chance of a video :)?

What I think you should do is to hook in your algorithm instead of the commander (commander.c), or in parallel. The commander is called form the stabilization module each loop so that way you can insert your own desired set points.

omwdunkley
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Location: Munich

Re: Completely Autonomous Flight

Post by omwdunkley » Mon Feb 24, 2014 11:20 am

This sounds pretty awesome! Could you share any more details? Thanks!

Birdman
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Location: San Francisco Bay Area

Re: Completely Autonomous Flight

Post by Birdman » Tue Jun 03, 2014 10:52 pm

Any progress on this project?

gtmtg
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Joined: Mon Dec 30, 2013 8:54 pm

Re: Completely Autonomous Flight

Post by gtmtg » Sun Jul 13, 2014 1:51 am

Hi everyone,

I'm really sorry—I've been extremely busy and completely forgot about this thread. I was actually selected as a Google Science Fair Regional Finalist (90 in the world) and a Computer Science Award nominee (15 in the world) for this project! I posted more details (along with links to a video/pictures/etc.) at http://forum.bitcraze.se/viewtopic.php?f=6&t=935.

Thanks so much, and sorry for the delay!

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