CF2 Rate mode
CF2 Rate mode
I am having problems putting my CF2 into rate mode (attitude is the "normal" mode). I can see the settings in the cfclient, but the checkboxes are grayed out. Is there a parameter i have to set to be able to access rate mode?
Re: CF2 Rate mode
Well, we actually disabled this functionality because it was to easy to break the Crazyflie 1.0. The Crazyflie 2.0 is a different story so it might be time to enable it again. In the code it is set here if you would like to compile it your self.
Re: CF2 Rate mode
I finally got around to test this, and boy is it fun! The regulator parameters are a bit off for this type of usage, but after some tuning I got it working quite well. If anyone is interested, here is what I used (same for pitch and roll):
Kp: 150
Ki: 70
Kd: 2
and I increased the angle/rate limit in the flight control tab of the cfclient to 150.
Word of warning though: It is much more difficult to fly the CF2 in rate mode. If you think that "normal" mode is difficult, then do not try this yet, chances are you will break something. If you are getting good at flying the little quad though, and want a fun challenge, go for it, it is awesome!
If you try it, please share your experience, it would be fun to see what other people think! Personally, I think that it would be cool if this feature was released again, and if then the regulator parameters would be updated automatically depending on chosen flight mode. It is completely possible to fly the CF2 in this manner!
Cheers!
Cheers!
Kp: 150
Ki: 70
Kd: 2
and I increased the angle/rate limit in the flight control tab of the cfclient to 150.
Word of warning though: It is much more difficult to fly the CF2 in rate mode. If you think that "normal" mode is difficult, then do not try this yet, chances are you will break something. If you are getting good at flying the little quad though, and want a fun challenge, go for it, it is awesome!
If you try it, please share your experience, it would be fun to see what other people think! Personally, I think that it would be cool if this feature was released again, and if then the regulator parameters would be updated automatically depending on chosen flight mode. It is completely possible to fly the CF2 in this manner!
Cheers!
Cheers!
Re: CF2 Rate mode
It is definitely a lot of fun, glad you enjoy it!
As you point out, it might be time to implement it again!I think that it would be cool if this feature was released again
Re: CF2 Rate mode
Hi,
I'm trying to get my crazyflie to work in rate mode, because according to this thread viewtopic.php?f=6&t=1978&start=30 I'm encountering the same issues, the flight behaviour is much better with the new experimental PID settings, but it flips over when giving too much input or flying outside with wind. Changed stabilizationModeRoll=RATE, stabilizationModePitch=RATE in commander.c, but it's still working in attitude mode. GUI also says "attitude mode", but parameter->flightmode is reporting stabModeRoll/Pitch = 0. What am I doing wrong?
[SOLVED] Ok solved it, it was issue #133 ...
I'm trying to get my crazyflie to work in rate mode, because according to this thread viewtopic.php?f=6&t=1978&start=30 I'm encountering the same issues, the flight behaviour is much better with the new experimental PID settings, but it flips over when giving too much input or flying outside with wind. Changed stabilizationModeRoll=RATE, stabilizationModePitch=RATE in commander.c, but it's still working in attitude mode. GUI also says "attitude mode", but parameter->flightmode is reporting stabModeRoll/Pitch = 0. What am I doing wrong?
[SOLVED] Ok solved it, it was issue #133 ...