Asynchronous control of the Crazyflie 2.0
Posted: Thu May 03, 2018 8:50 pm
Dear all,
using the crazyflie python library API (cflib) I can control the copter very easy. I use the logging functionality to read the sensors information and I send the control signals to the copter by commands like send_setpoint(roll, pitch, yaw, thrust). In this case, the control system works in a periodic way.
Now I'm interested in checking event-based controllers in the Crazyflie 2.0 plataform. To do this, I need that the copter send the sensors information to the computer asynchronously. It means that the sensors information is received only when a certain condition is fulfilled (e.g. when the real altitude of the copter minus the reference altitude is greater than a certain threshold). On the other hand, when a command is sent to the copter (e.g. send_setpoint) this order has to be act in the copter indefinitely until a new command is sent again.
Does somebody know how to implement it in the crazyflie 2.0 platform?, Is it possible?
Best regards,
Rafael Socas
using the crazyflie python library API (cflib) I can control the copter very easy. I use the logging functionality to read the sensors information and I send the control signals to the copter by commands like send_setpoint(roll, pitch, yaw, thrust). In this case, the control system works in a periodic way.
Now I'm interested in checking event-based controllers in the Crazyflie 2.0 plataform. To do this, I need that the copter send the sensors information to the computer asynchronously. It means that the sensors information is received only when a certain condition is fulfilled (e.g. when the real altitude of the copter minus the reference altitude is greater than a certain threshold). On the other hand, when a command is sent to the copter (e.g. send_setpoint) this order has to be act in the copter indefinitely until a new command is sent again.
Does somebody know how to implement it in the crazyflie 2.0 platform?, Is it possible?
Best regards,
Rafael Socas