Bitcraze Forums

Apologies, I didn't know that you have to turn off the rosbag before you turn off RVIZ to get a proper rosbag. Here is another one that perfectly shows the issues we are experiencing.

https://drive.google.com/file/d/0BzQzuQ ... sp=sharing

Bumping, as we still have not found the issue, and it seems no one else is experiencing this.

Also, which topic is the drones xyz position being published to? Is there a way we could get a csv file with a table of the position over some period of time from a rosbag? Thank you.

Hi,

Something strange about your bag: It seems that the setpoint in Z is also going down and even becoming negative. Is that wanted?

About the other question: you can extract data from a ros bag, either as text (yaml): http://answers.ros.org/question/9102/ho ... -from-bag/. Or there seems to be some tools: https://gist.github.com/marc-hanheide/4 ... 4bf9e5e9f5. I have previously used rostopic and then extracting the data with a script.

The setpoint is /crazyflie/goal and the returned position from the Crazyflie is /crazyflie/crazyflie_position.

Hello Arnaud,
Yes the changing Z setpoint is exactly the issue we are seeing. We have been seeing this issue ever since we started using tdoa with our drones. My team and I are inexperienced though, and we could not find what is causing the issue. We have another rosbag where the drones setpoints are drifting along the x axis. Have you any idea what may be causing these issues? Thanks!

Ah I see, this issue is caused by something in ROS, not by the Crazyflie or its ranging mode (TDoA).

The topic /crazyflie/goal is generated by one of your ros node. To find which one you can use "rostopic info /crazyflie/goal" it will tell you which node is publishing the topic. You can also use rqt_graph to see how things are connected.

Hello Arnaud,

Thank you for the call you did with me last week. As frustrating as it was, it really was simply just the xbox controller having a tilt on the joystick. This was quite the learning experience. Thank you so much for the help.

Glad that it works!

Yes this is a very frustrating problem, I have had it when working on the LPS. I am always careful with axis deadzone now .