Swarm Python not working as expected

[purvisb]

I'm trying to get two CF 2.1 drones to fly forwards and backwards in the air. They are using flow decks

For some reason, it seems like each action (liftOff, hover, setDown, etc) happens twice on each device. This is not the behavior I expect.

One consequence of this is that when it goes to setDown, it ramps down the propellers until they stop (as expected), then it starts the setDown action again which brings the propellers back to hovering thrust and ramps them back down again while on the floor - causing them to crash.

Can someone take a look at this code and let me know why this is happening? And perhaps how else I should approach this?

Code: Select all

import math
import time

import cflib.crtp
from cflib.crazyflie.swarm import CachedCfFactory
from cflib.crazyflie.swarm import Swarm

# Change uris according to your setup
URI1 = 'radio://0/80/2M/E7E7E7E7E5'
URI2 = 'radio://0/83/2M/E7E7E7E7E7'

uris = {
    URI1,
    URI2
}

#MOVEMENTS
def liftOff(cf):
        print("\n+++Lift off+++" )
        for y in range(10):
            cf.commander.send_hover_setpoint(0, 0, 0, (1-(1.1**(-y)))/2.5)
            time.sleep(0.1)
            
def setDown(cf):
        print("\n---Set down---")
        for y in range(10):
            #cf.commander.send_hover_setpoint(0, 0, 0, (10 - y) / 25)
            cf.commander.send_hover_setpoint(0, 0, 0, (1.1**(-y))/2.5)
            time.sleep(0.1)
            
def hover(cf):
        print("\n===Hovering===")
        for _ in range(20):
            cf.commander.send_hover_setpoint(0, 0, 0, 0.4)
            time.sleep(0.1)
            
def moveForward(cf):
        print("\n^^^forward^^^")
        for _ in range(20):
            cf.commander.send_hover_setpoint(0.5, 0, 0, 0.4)
            time.sleep(0.1)      

def moveBackwards(cf):
        print("\n\/\/\/Backwards\/\/\/")
        for _ in range(20):
            cf.commander.send_hover_setpoint(-0.5, 0, 0, 0.4)
            time.sleep(0.1)     
            
def stop(cf):
        print("\nXXX_Stop_XXX")
        cf.commander.send_stop_setpoint()
        time.sleep(0.5) 
#END MOVEMENTS

def reset_estimator(scf):
    print("reseting state estimation")
    cf = scf.cf
    cf.param.set_value('kalman.resetEstimation', '1')
    time.sleep(0.1)
    cf.param.set_value('kalman.resetEstimation', '0')
    time.sleep(2)

def sequence(scf):
    cf = scf.cf

    liftOff(cf)
    hover(cf)
    moveForward(cf)
    hover(cf)
    setDown(cf)
    stop(cf)
    liftOff(cf)
    hover(cf)
    moveBackwards(cf)
    hover(cf)
    setDown(cf)
    stop(cf)

if __name__ == '__main__':
    cflib.crtp.init_drivers()

    factory = CachedCfFactory(rw_cache='./cache')
    with Swarm(uris, factory=factory) as swarm:
        swarm.parallel_safe(reset_estimator)
        print("\n############flying############")
        swarm.parallel_safe(sequence)
        

[arnaud]

Hi,

just looking at the script I cannot see anything obviously wrong. One nit pick is that you will get better performance by putting both your Crazyflies on the same channel but different address. So for example by setting URI2 to radio://0/80/2M/E7E7E7E7E7.

What print-out do you get from your script, are the function only called once per Crazyflie?

What version of the lib are you using?

Unfortunately I do not have access to 2 Crazyflie right now to test.

[tharunkumar_a1]

How to connect a multiple crazy flie in one crazyradio and how many crazyflie can connect in a one crazyradio.

thanks in advance.

[kimberly]

@tharunkumar_a1

Please start a new thread for your problem as you are not the original poster and your problem is not related to this thread.

Just a notice, we are on our way to transfer to github discussions, so you can also start the thread there is you want to: https://github.com/orgs/bitcraze/discussions