LH is ok when not flying,but chaotic in real flight

Topics related to the Lighthouse positioning system, configuration and use
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Baosai
Beginner
Posts: 10
Joined: Mon Jun 08, 2020 8:49 am

LH is ok when not flying,but chaotic in real flight

Post by Baosai »

[/code]Hey guys,
I installed the Lighthouse positioning system according to the instructions. When I moved the copter by hand, Lighthouse positioning track is perfect. But when the copter is flying, the positioning will be chaotic and the flight trajectory is very strange(For example, it will crash everywhere or fly in an extreme direction. . .). Of course, occasionally the flight path will be good, but it is rare. I am confused about this, can anyone provide some experience?

I work with a few example, but the results were mostly very terrible.

1. PID_controller_tuner.py

Code: Select all

PID_controller_tuner.py:
(STANDARD_HEIGHT = 0.8)
Connecting to radio://0/80/2M/E7E7E7E7E7
Connected to radio://0/80/2M/E7E7E7E7E7
Waiting for estimator to find position...
update info
pos: (0.02151080034673214, -0.009399770759046078, 0.16127389669418335)
pos: (0.02156354859471321, -0.009443090297281742, 0.1609809249639511)
pos: (0.02147091180086136, -0.009354745037853718, 0.16114073991775513)
pos: (0.02161705680191517, -0.00943225622177124, 0.1609116643667221)
pos: (0.021552152931690216, -0.009350746870040894, 0.16093295812606812)
pos: (0.021576885133981705, -0.009450281038880348, 0.16106043756008148)
pos: (0.021441571414470673, -0.00933371763676405, 0.16107255220413208)
pos: (0.02149786800146103, -0.009372957982122898, 0.1612711399793625)
pos: (0.021387562155723572, -0.009492979384958744, 0.16086561977863312)
pos: (0.05385962873697281, -0.0692320317029953, 0.28011396527290344)
pos: (0.04449636489152908, -0.030371930450201035, 0.7209135890007019)
pos: (-0.09136592596769333, 0.09741857647895813, 0.8696437478065491)
pos: (-0.017205528914928436, 0.0211090799421072, 0.899692177772522)
pos: (0.01066504418849945, -0.0022861335892230272, 0.8924567103385925)
pos: (-0.0016913965810090303, 0.00845955591648817, 0.8856292366981506)
pos: (0.006614567246288061, -0.0031482211779803038, 0.8736806511878967)
pos: (0.004512520041316748, -0.004332128446549177, 0.8654157519340515)
pos: (-0.0013400246389210224, -0.0009147280943579972, 0.8559897541999817)
pos: (-0.0015537847066298127, -0.002901001600548625, 0.8507428765296936)
pos: (0.0029912476893514395, -0.001080103567801416, 0.8408267498016357)
pos: (0.00072653399547562, 0.0026213328819721937, 0.8336321711540222)
pos: (0.00161321135237813, -0.002416193950921297, 0.8466178178787231)
pos: (0.10273148864507675, -0.3012743890285492, 0.8860851526260376)
pos: (-0.013642516918480396, 0.01084250770509243, 0.580128014087677)
pos: (0.038878876715898514, 1.4567697048187256, -1.2636297941207886)
pos: (-0.15213258564472198, 3.049135684967041, -3.7532737255096436)
pos: (-0.3789260983467102, 4.5621418952941895, -6.228635311126709)
pos: (-0.6429680585861206, 6.0009684562683105, -8.700394630432129)
pos: (-0.9445403218269348, 7.362135887145996, -11.163076400756836)
pos: (-1.2841382026672363, 8.645485877990723, -13.617037773132324)
pos: (-1.6542322635650635, 9.82752513885498, -16.014699935913086)
pos: (-2.0703914165496826, 10.956052780151367, -18.454063415527344)
pos: (-2.526219606399536, 12.00582504272461, -20.88478660583496)
pos: (-3.022432565689087, 12.976350784301758, -23.307233810424805)
pos: (-3.559680461883545, 13.867060661315918, -25.721166610717773)
pos: (-4.137298107147217, 14.675846099853516, -28.121051788330078)
pos: (-4.758283615112305, 15.40552043914795, -30.516826629638672)
pos: (-5.422152042388916, 16.054147720336914, -32.9039306640625)
pos: (-6.1292805671691895, 16.621627807617188, -35.282562255859375)
Traceback (most recent call last):
  File "/home/wang/projects/crazyflie-lib-python/examples/tuning/PID_controller_tuner.py", line 344, in <module>
    tk.mainloop()
  File "/usr/lib/python3.6/tkinter/__init__.py", line 560, in mainloop
    _default_root.tk.mainloop(n)
KeyboardInterrupt

Then the plane quickly hit the wall.
2.autonomousSequence.py
the copter dont move as the postions, it flys very strange.

Code: Select all

autonomousSequence.py:

Connecting to radio://0/80/2M
Connected to radio://0/80/2M
Waiting for estimator to find position...
Setting position (0, 0, 0.5, 0)
pos: (0.030154390260577202, -0.04071608930826187, 0.31477421522140503)
pos: (-0.0007748748757876456, -0.006142451427876949, 0.4711490273475647)
pos: (-0.0107026482000947, 0.025943182408809662, 0.5144262313842773)
pos: (0.00021611154079437256, 0.0031076143495738506, 0.53209388256073)
pos: (-0.002681393874809146, 0.0004751934902742505, 0.5370898246765137)
pos: (-0.0013801666209474206, 0.0018157484009861946, 0.5343238115310669)
pos: (-0.0014381464570760727, -0.0018977258587256074, 0.5320922136306763)
pos: (2.1196668967604637e-05, -0.0006699744844809175, 0.5298779606819153)
pos: (-0.00023741312907077372, -0.002970730420202017, 0.015549713745713234)
pos: (0.13737699389457703, -0.08846084028482437, 0.2902442216873169)
Setting position (0.5, 0, 0.5, 0)
pos: (-0.03106614388525486, 0.08126228302717209, 0.5744625329971313)
pos: (0.30443793535232544, 0.0537523552775383, 0.6144019961357117)
pos: (0.5658884048461914, -0.014567425474524498, 0.6227310299873352)
pos: (0.4992747902870178, 0.009026860818266869, 0.603302001953125)
pos: (0.508579671382904, -0.0030377546790987253, 0.5837059020996094)
pos: (0.5209370851516724, -0.0072291200049221516, 0.6171714067459106)
pos: (0.49307477474212646, 0.004012225661426783, 0.8271852731704712)
pos: (0.3982270359992981, -0.003186064073815942, 1.0620712041854858)
pos: (0.23960180580615997, -0.03240860253572464, 1.3043456077575684)
pos: (0.02386433817446232, -0.07567567378282547, 1.5524622201919556)
Setting position (0.5, 0.5, 0.5, 0)
pos: (-0.25042518973350525, -0.11845266073942184, 1.8152929544448853)
pos: (-0.45650550723075867, -0.10432931780815125, 2.0999069213867188)
pos: (-0.4231022894382477, 0.1190827414393425, 2.359199047088623)
pos: (-0.2910715341567993, 0.43813785910606384, 2.6099703311920166)
pos: (0.4132610857486725, 1.0333093404769897, 2.519209861755371)
pos: (1.7409334182739258, 2.020033359527588, 1.8540095090866089)
pos: (2.88242769241333, 2.8240976333618164, 1.166077733039856)
pos: (3.434795618057251, 3.1171939373016357, -0.22234320640563965)
pos: (3.767679214477539, 4.139013290405273, -3.038393974304199)
pos: (3.8838860988616943, 6.210199356079102, -6.432259559631348)
Setting position (0, 0.5, 0.5, 0)
pos: (3.631497859954834, 9.301876068115234, -10.24193286895752)
pos: (-0.020589759573340416, 0.04271910339593887, -0.4165353775024414)
pos: (-0.21874411404132843, 0.3901570439338684, -3.7565155029296875)
pos: (-0.0524086095392704, 0.010095535777509212, -1.2635126113891602)
pos: (8.00841226009652e-05, -0.00014445385022554547, -0.039487358182668686)
pos: (0.006059775594621897, -0.0029605270829051733, -2.031395196914673)
pos: (-0.0012611598940566182, 0.0009671306470409036, -0.3712517023086548)
pos: (0.10050997883081436, -0.1367504745721817, -2.986516237258911)
pos: (-7.737229316262528e-05, 4.253603037795983e-06, -0.030328713357448578)
pos: (-0.09010864794254303, 0.07761498540639877, -1.3127788305282593)
Setting position (0, 0, 0.5, 0)
pos: (-1.1987003087997437, 1.0707621574401855, -3.9952900409698486)
pos: (0.0014176721451804042, -0.0014579802518710494, -0.007437313441187143)
pos: (0.23774608969688416, -0.24290229380130768, -0.6093873977661133)
pos: (1.3221426010131836, -1.407931923866272, -2.7383406162261963)
pos: (5.538136065297294e-06, -1.2720255654130597e-05, -0.008049752563238144)
pos: (-0.0994391068816185, 0.02828286401927471, -0.5576842427253723)
pos: (-1.0641062259674072, 0.6339820623397827, -2.338186264038086)
pos: (-2.689187526702881, 1.86649489402771, -6.673027515411377)
pos: (-1.7364801578878541e-06, 2.4220159957621945e-06, -0.02364034205675125)
pos: (-0.0004657442041207105, 0.0004666387103497982, -1.2602832317352295)
Setting position (0, -0.5, 0.5, 0)
pos: (-0.002549898810684681, -0.004757952410727739, -4.343245029449463)
pos: (5.402640454121865e-05, -9.08933870960027e-05, -0.15477758646011353)
pos: (0.0025304013397544622, -0.0011787477415055037, -1.7655665874481201)
pos: (0.009406345896422863, -0.003538606921210885, -5.1323676109313965)
pos: (-0.00011034830095013604, 0.0001379080640617758, -0.2783437669277191)
pos: (-0.003725956892594695, 0.01094147376716137, -2.2151710987091064)
pos: (-0.012303164228796959, 0.044952671974897385, -5.953046798706055)
pos: (-6.690723239444196e-05, -8.999624697025865e-05, -0.6664299368858337)
pos: (-0.0015465645119547844, 0.002271381439641118, -3.209367513656616)
pos: (6.786091830690566e-07, 2.820702604822145e-07, -0.03882521390914917)
Setting position (0, -0.5, 0, 0)
pos: (-2.162110286008101e-05, -0.00030287730623967946, -1.3723729848861694)
pos: (3.821856080321595e-05, -0.0029776415321975946, -4.5867438316345215)
pos: (-9.09837763174437e-06, 7.044474477879703e-05, -0.27334901690483093)
pos: (0.00022573773458134383, 0.001989845186471939, -2.2413008213043213)
pos: (0.00018643357907421887, 0.005837241653352976, -6.104535102844238)
pos: (-0.00015348738816101104, 0.0006159031763672829, -0.806615948677063)
pos: (-0.00011780473869293928, 0.0023421458899974823, -3.5926342010498047)
pos: (-6.7546952777775005e-06, -2.327300353499595e-05, -0.12579751014709473)
pos: (6.20216887909919e-05, -0.0007342668832279742, -1.7496511936187744)
pos: (0.0010620015673339367, -0.0005018823430873454, -5.351192474365234)
3. initial_position.py
Once, the drone's chaotic flight

Code: Select all

Connecting to radio://0/80/2M
Connected to radio://0/80/2M
Waiting for estimator to find position...
Setting position (0, 0, 0.7)
pos: (-0.14168664813041687, -0.15732799470424652, 0.2798379957675934)
pos: (-0.12018916010856628, 0.16307367384433746, 0.2684902846813202)
pos: (-0.0390496626496315, 0.2986680865287781, -0.2266542613506317)
pos: (-0.20433449745178223, 0.20120200514793396, -0.28798896074295044)
pos: (-0.39177122712135315, 0.04481515288352966, -0.6812000274658203)
pos: (-0.5755356550216675, -0.10842739790678024, -1.061019778251648)
pos: (-0.7693692445755005, -0.2737712860107422, -1.4654326438903809)
pos: (-0.9758564829826355, -0.4518628716468811, -1.8971816301345825)
pos: (-1.1895394325256348, -0.6364529728889465, -2.3443005084991455)
Traceback (most recent call last):
  File "/home/wang/projects/crazyflie-lib-python/examples/positioning/initial_position.py", line 172, in <module>
    initial_x, initial_y, initial_z, initial_yaw)
  File "/home/wang/projects/crazyflie-lib-python/examples/positioning/initial_position.py", line 145, in run_sequence
    time.sleep(0.1)
KeyboardInterrupt

Process finished with exit code 1
The other time, I followed the instructions, although this time it was not very good.

Code: Select all

 Connecting to radio://0/80/2M
Connected to radio://0/80/2M
Waiting for estimator to find position...
Setting position (0, 0, 0.7)
pos: (-0.11075931042432785, -0.11993246525526047, 0.30401915311813354)
pos: (-0.1050366684794426, 0.058083243668079376, 0.6101504564285278)
pos: (-0.014981936663389206, 0.03556116670370102, 0.7747489213943481)
pos: (-0.01492931880056858, -0.009511709213256836, 0.8037581443786621)
pos: (0.005674766842275858, 0.000997885363176465, 0.7979667782783508)
pos: (0.010283300653100014, -0.005211748648434877, 0.786018431186676)
pos: (0.010465807281434536, -0.006768969818949699, 0.7707411050796509)
pos: (0.009757379069924355, -0.004933073651045561, 0.7588413953781128)
pos: (0.008124609477818012, -0.005767980124801397, 0.749455451965332)
pos: (0.022570060566067696, -0.008287589065730572, 0.7493460774421692)
Setting position (-0.7, 0, 0.7)
pos: (-0.0767379179596901, -0.029863521456718445, 0.7248541116714478)
pos: (-0.5260859727859497, 0.00045625504571944475, 0.7322055101394653)
pos: (-0.6966109871864319, 0.007388170808553696, 0.7176498174667358)
pos: (-0.7032651901245117, 0.0005043466226197779, 0.7234547138214111)
pos: (-0.7084795236587524, 0.004109851084649563, 0.720493495464325)
pos: (-0.6969967484474182, 0.007976740598678589, 0.7179866433143616)
pos: (-0.6985143423080444, 0.011143175885081291, 0.715547502040863)
pos: (-0.7068672776222229, 0.006947146262973547, 0.7096388936042786)
pos: (-0.6886261701583862, 2.991433211718686e-05, 0.7049977779388428)
pos: (-0.6723108887672424, 0.0050634886138141155, 0.7071345448493958)
Setting position (0, 0, 0.7)
pos: (-0.5443704128265381, 0.008126562461256981, 0.7008529901504517)
pos: (-0.11303862929344177, -0.02329036220908165, 0.7012369632720947)
pos: (-0.0009557114099152386, -0.024654220789670944, 0.7039843797683716)
pos: (0.016133030876517296, -0.014439907856285572, 0.7141757607460022)
pos: (0.03827916830778122, -0.009921826422214508, 0.7112358808517456)
pos: (0.02819104678928852, -0.004401205573230982, 0.7071875929832458)
pos: (0.020690100267529488, -0.0025961678475141525, 0.7040784955024719)
pos: (0.015688780695199966, -0.003247329266741872, 0.703755259513855)
pos: (0.011507956311106682, -0.0008558977278880775, 0.6977506279945374)
pos: (0.008282961323857307, -9.85568476608023e-06, 0.7033833861351013)
Setting position (0, 0, 0.2)
pos: (-0.001151756732724607, -0.005175657104700804, 0.5196112990379333)
pos: (0.010652776807546616, -0.006880875676870346, 0.22007805109024048)
pos: (0.010514587163925171, 0.011607629247009754, 0.1809195578098297)
pos: (-0.00136845326051116, 0.003705997485667467, 0.1771002858877182)
pos: (-0.016999615356326103, -0.006363851949572563, 0.16647040843963623)
pos: (-0.01857483945786953, 0.005542283412069082, 0.16359539330005646)
pos: (-0.015702620148658752, -0.00029068876756355166, 0.1664767861366272)
pos: (-0.01376656349748373, -0.001262443489395082, 0.16770417988300323)
pos: (-0.004536376800388098, 0.002868087263777852, 0.17198538780212402)
pos: (0.0156106473878026, -0.002121888566762209, 0.17549164593219757)

4.trianglemove only with hand, seems very good.
Attachments
move with hand .png
kristoffer
Bitcraze
Posts: 322
Joined: Tue Jun 30, 2015 7:47 am

Re: LH is ok when not flying,but chaotic in real flight

Post by kristoffer »

Hi!
Do you use lighthouse 1 or 2?
Baosai
Beginner
Posts: 10
Joined: Mon Jun 08, 2020 8:49 am

Re: LH is ok when not flying,but chaotic in real flight

Post by Baosai »

kristoffer wrote: Mon Sep 07, 2020 2:18 pm Hi!
Do you use lighthouse 1 or 2?
lighthouse v1
kristoffer
Bitcraze
Posts: 322
Joined: Tue Jun 30, 2015 7:47 am

Re: LH is ok when not flying,but chaotic in real flight

Post by kristoffer »

Thanks!

Please check how the angle data from the lighthouse looks and see if they change as expected when moving the Crazyflie around.

For a description of how to log see https://www.bitcraze.io/documentation/r ... t/#logging
The log variables for the sensors are
lighthouse.angle0x
lighthouse.angle0y
lighthouse.angle0x_1
lighthouse.angle0y_1
lighthouse.angle0x_2
lighthouse.angle0y_2
lighthouse.angle0x_3
lighthouse.angle0y_3

Note that only 6 of the variables will fit in a log block.
Baosai
Beginner
Posts: 10
Joined: Mon Jun 08, 2020 8:49 am

Re: LH is ok when not flying,but chaotic in real flight

Post by Baosai »

kristoffer wrote: Tue Sep 08, 2020 6:29 am Thanks!

Please check how the angle data from the lighthouse looks and see if they change as expected when moving the Crazyflie around.

For a description of how to log see https://www.bitcraze.io/documentation/r ... t/#logging
The log variables for the sensors are
lighthouse.angle0x
lighthouse.angle0y
lighthouse.angle0x_1
lighthouse.angle0y_1
lighthouse.angle0x_2
lighthouse.angle0y_2
lighthouse.angle0x_3
lighthouse.angle0y_3

Note that only 6 of the variables will fit in a log block.
I have done many tests with LH angel, the logging period is always 10 ms, but the results are not stable, sometimes bad.
I saved all the measurement screenshots in the attached zip file, you can view them.
Attachments
angle0 y.zip
lighthouse.angle0y
lighthouse.angle0y_1
lighthouse.angle0y_2
lighthouse.angle0y_3
(321.51 KiB) Downloaded 5 times
angle0 xy 1-3.zip
lighthouse.angle0x_1
lighthouse.angle0y_1
lighthouse.angle0x_2
lighthouse.angle0y_2
lighthouse.angle0x_3
lighthouse.angle0y_3
(354.37 KiB) Downloaded 5 times
angle0 xy 0-2.zip
lighthouse.angle0x
lighthouse.angle0y
lighthouse.angle0x_1
lighthouse.angle0y_1
lighthouse.angle0x_2
lighthouse.angle0y_2
(476.57 KiB) Downloaded 6 times
angle0 x.zip
lighthouse.angle0x
lighthouse.angle0x_1
lighthouse.angle0x_2
lighthouse.angle0x_3
(322.72 KiB) Downloaded 5 times
Baosai
Beginner
Posts: 10
Joined: Mon Jun 08, 2020 8:49 am

Re: LH is ok when not flying,but chaotic in real flight

Post by Baosai »

kristoffer wrote: Tue Sep 08, 2020 6:29 am Thanks!

Please check how the angle data from the lighthouse looks and see if they change as expected when moving the Crazyflie around.

For a description of how to log see https://www.bitcraze.io/documentation/r ... t/#logging
The log variables for the sensors are
lighthouse.angle0x
lighthouse.angle0y
lighthouse.angle0x_1
lighthouse.angle0y_1
lighthouse.angle0x_2
lighthouse.angle0y_2
lighthouse.angle0x_3
lighthouse.angle0y_3

Note that only 6 of the variables will fit in a log block.
I would like to add :
I tried to run the same program using the flow deck v2 with the same firmware, the results were always good, every time succeeded. So I wonder if my Lighthouse deck is broken?
kristoffer
Bitcraze
Posts: 322
Joined: Tue Jun 30, 2015 7:47 am

Re: LH is ok when not flying,but chaotic in real flight

Post by kristoffer »

Thanks!

I think the angles looks OK generally.

There are some periods where the angles are not updated (unchanged values, horizontal line in the graph) which indicates that the system could not decode the angle. This could be due to a number of reasons:
1. The base station is not visible from the sensor. Maybe the sensor is blocked by something or the CF is facing away from the base station
2. Optical interference. If there are other IR light sources or if the base station is reflected in a mirror, window or similar, it might confuse the decoding algorithm and cause problems.
3. Broken hardware. Not very common but has happened.
4. Base station movement. There is a motion detection in the base station that turns it off if motion is detected. You can see that the LED on the base station changes color if you move it around.

The system is designed to handle loss angel data for short periods of time and this should be OK, but if you loose it for a long time the Crazyflie will drift off as it only has the IMU to estimate position from.

I can also see in some graphs that there is a gap in the updates but the line is not horizontal. That indicates that you did not get any log data for a while, maybe there was a glitch in the radio communication?

What does your geometry data look like?
(Either you have set it in the lighthouse_position_est.c file, or you set it at runtime using the get_bs_geometry.py)
Baosai
Beginner
Posts: 10
Joined: Mon Jun 08, 2020 8:49 am

Re: LH is ok when not flying,but chaotic in real flight

Post by Baosai »

kristoffer wrote: Wed Sep 09, 2020 12:46 pm Thanks!

I think the angles looks OK generally.

There are some periods where the angles are not updated (unchanged values, horizontal line in the graph) which indicates that the system could not decode the angle. This could be due to a number of reasons:
1. The base station is not visible from the sensor. Maybe the sensor is blocked by something or the CF is facing away from the base station
2. Optical interference. If there are other IR light sources or if the base station is reflected in a mirror, window or similar, it might confuse the decoding algorithm and cause problems.
3. Broken hardware. Not very common but has happened.
4. Base station movement. There is a motion detection in the base station that turns it off if motion is detected. You can see that the LED on the base station changes color if you move it around.

The system is designed to handle loss angel data for short periods of time and this should be OK, but if you loose it for a long time the Crazyflie will drift off as it only has the IMU to estimate position from.

I can also see in some graphs that there is a gap in the updates but the line is not horizontal. That indicates that you did not get any log data for a while, maybe there was a glitch in the radio communication?

What does your geometry data look like?
(Either you have set it in the lighthouse_position_est.c file, or you set it at runtime using the get_bs_geometry.py)

baseStationGeometry_t lighthouseBaseStationsGeometry[2] = {
{.origin = {0.429884, 1.741950, 2.480403, }, .mat = {{-0.130902, 0.987537, -0.087385, }, {-0.852885, -0.157111, -0.497899, }, {-0.505423, 0.009353, 0.862821, }, }},
{.origin = {-0.009729, -1.558809, 2.552108, }, .mat = {{0.025933, -0.998317, 0.051865, }, {0.824645, 0.050690, 0.563375, }, {-0.565056, 0.028160, 0.824572, }, }},
};

I excluded 1, 2, 4, my copter moves strange, and the real-time feedback position is completely different from the actual position. I tried to run the same code using the flow deck v2, always successful
kristoffer
Bitcraze
Posts: 322
Joined: Tue Jun 30, 2015 7:47 am

Re: LH is ok when not flying,but chaotic in real flight

Post by kristoffer »

Your base station geometry looks reasonable.

So to conclude: everything looks good when moving the CF around by hand, but not when flying. Is this your view as well?

Do you have access to a gamepad? It would be interesting to fly the CF manually with a gamepad and log lighthouse angels at the same time to see if they are messed up somehow.
Baosai
Beginner
Posts: 10
Joined: Mon Jun 08, 2020 8:49 am

Re: LH is ok when not flying,but chaotic in real flight

Post by Baosai »

kristoffer wrote: Thu Sep 10, 2020 12:52 pm Your base station geometry looks reasonable.

So to conclude: everything looks good when moving the CF around by hand, but not when flying. Is this your view as well?

Do you have access to a gamepad? It would be interesting to fly the CF manually with a gamepad and log lighthouse angels at the same time to see if they are messed up somehow.
I bought an new Lighthouse deck and the problem was solved perfectly. So I am sure that the previous one has quality problems. . . Unlucky
Anyway, thank you very much for your help and prompt reply, wish you all the best !!!
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