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I am a newer in crazyflie and robotics. I want to learn using ROS to control UAV so I start with crazyflie for indoor applications. I do not spend time on the firmware and pyclient because my goal is outdoor applications, using ROS allows me to easily transform to other aerial platforms.

In the past weeks, I was struggling on altitude hold using crazyflie onboard sensors, e.g. barometers, accelerometers and with kalman filter and PID controller.

However, the test keeps fails. I have seen some successful videos on Youtube and I believe most of them are developed based on firmware or python client with a joystick..

If you knows any information on similar implementation, papers, githubs,... using ROS would be really appreciated.

Thanks.

Hi,

Could you maybe explain what problem you are having more precisely? Crazyflie is controlled using fairly high-level commands over radio so it means that using ROS or the python client should not have any effect on the performance of altitude-hold.

Do you have problem setting the Crazyflie in altitude hold mode, or do you have problems with the behavior of altitude-hold?