HITL and SITL for crazyflie

Discussions about all things Bitcraze
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Joined: Tue Aug 28, 2018 5:57 pm

Re: HITL and SITL for crazyflie

Post by taochen_bitcraze » Tue Aug 28, 2018 6:09 pm

Hello all, I have downloaded the package and successfully compiled everything. I am trying run SITL simulation.
However, when I launch the mav.launch launch file, and then run the test_high_level.py python script, it gave me warnings like "Don't know ack: Port 8 Channel: 0 Len: 5" every time it sends out a request and nothing else happens (the vehicle doesn't take off). What am I doing wrong here? All I did was:
1. start ./cf
2. launch mav.launch
3. run the python script

I spent all day yesterday trying to find out what the problem was, I noticed that the motor commands are sent back with header port 09 and channel 0 and that's within the power distribution module. But I still don't understand how it's being sent back to Gazebo. (The response msg for taking off doesn't contain the motor commands.)

I tried manually sending service requests, it gave me the same warnings.

Anyone could help? Thanks!

Posts: 15
Joined: Mon Apr 16, 2018 1:05 pm

Re: HITL and SITL for crazyflie

Post by wuwushrek » Thu Jan 17, 2019 9:00 am

Hello all,
Sorry @taochen_bitcraze for the very late response. I guess you have figured your way out of that situation.
Anyways I recently pushed on the master branch something more compatible with recent version of bitcraze master branch firmware + full compatibility with crazyflie_ros (which wasn't the case earlier), some utilites and technically speaking it should be faster. Hopefully the documentation on the github isn't that bad.
Hope to get some feedback from some of you about it.

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