How to make Crazyflie fly in a circle path?

[SlouchyCat]

Dear Crazyfliers,

I saw this blog post by arnaud demostrating 2 crazyflies flying in a circle using LPS. May I know how to configure to do this path?
https://www.bitcraze.io/2016/09/flying- ... ng-system/

Thank you!
SlouchyCat

[kekeller]

Have you taken a look at this blog post: https://www.bitcraze.io/category/loco-positioning/ ?

They go into some more details using the LPS system. Do you have the external hardware to track the crazyflies?

[arnaud]

Hi,

To fly in circle we "just" moved the setpoint in circle. We started working on that for the Maker faire berlin and the code made it in github in the swarm folder. It is a bit complex since it contains code to manage the flight (like takeoff without collision and landing on low battery) but for example the circle setpoint is calculated there: https://github.com/bitcraze/makerfaire- ... rl.py#L279

If you just want to fly one copter folowing a calculated trajectory you can look at the midi-ros bridge that is simpler because it basically implements only sending setpoints: https://github.com/bitcraze/makerfaire- ... idi-ros.py.

/Arnaud

[SlouchyCat]

Hi,

To fly in circle we "just" moved the setpoint in circle. We started working on that for the Maker faire berlin and the code made it in github in the swarm folder. It is a bit complex since it contains code to manage the flight (like takeoff without collision and landing on low battery) but for example the circle setpoint is calculated there: https://github.com/bitcraze/makerfaire- ... rl.py#L279

If you just want to fly one copter folowing a calculated trajectory you can look at the midi-ros bridge that is simpler because it basically implements only sending setpoints: https://github.com/bitcraze/makerfaire- ... idi-ros.py.

/Arnaud

Hi arnaud,

Thanks for the reply!

Is it possible to control the velocity and acceleration while executing the path as well?

Slouchycat

[arnaud]

Hi,

Controlling acceleration and velocity control is work in progress, we have a ticket talking about it: https://github.com/bitcraze/crazyflie-f ... issues/136

The controller is getting some interesting work lately and any help is welcome .

/Arnaud