Bitcraze Forums

Copied from a github issue https://github.com/whoenig/crazyflie_ros/issues/75 to move the discussion here.

I was using the latest firmware for flying multi CF's using UWB loco positioning system.
I am using this command
roslaunch bitcraze_lps_estimator dwm_loc_ekf_multi_hover.launch uri0:=radio://0/30/250K/E7E7E7E701 uri1:=radio://0/30/250K/E7E7E7E702 for flying 2 CF's.
and using
roslaunch bitcraze_lps_estimator dwm_loc_ekf_swarm_hover.launch uri0:=radio://0/30/250K/E7E7E7E701 uri1:=radio://0/30/250K/E7E7E7E702 uri2:=radio://0/30/250K.
for flying 3 CF's.

both has the same issue behaving crazy and hitting the walls (Not taking off accurate to the position given to the UWB loco positioning system. )

Any suggestions would be helpful.

Thanks in advance,

Appala Chekuri.

In what ranging mode are you running the Crazyflies? If you are running the default TWR mode, you cannot fly more than one Crazyflie. You need to run either TWR-TDMA or TDoA mode in order to be able to fly multiple Crazyflie: https://wiki.bitcraze.io/doc:lps:index# ... ctionality.

Another thing that could cause bad take-off is that all the Crazyflie should be started facing X. This is required because the Kalman filter needs do have a good initial orientation.