spinning the crazyflie on the Z axis

Discussions and questions about the Crazyflie Nano Quadcopter
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cafeciaojoe
Beginner
Posts: 24
Joined: Mon Jun 18, 2018 2:37 am

spinning the crazyflie on the Z axis

Post by cafeciaojoe » Sat Mar 16, 2019 1:27 pm

Hi everyone!

I am using the qualisys tab of the cfClient and want to know if there is a away to make the drone spin on the z axis but also move around?

https://www.jaycar.com.au/obstacle-avoi ... r/p/GT4244

or

https://www.youtube.com/watch?v=g5ztVIeHSqo

is it possible to have it move around like in the link above using the qualisys motion capture system?

arnaud
Bitcraze
Posts: 1890
Joined: Tue Feb 06, 2007 12:36 pm

Re: spinning the crazyflie on the Z axis

Post by arnaud » Wed Mar 20, 2019 10:31 am

It is possible for the Crazyflie to spin around Z, for that you need to send a setpoint with a yaw rate. The way to do it depends a lot of your use-case, if you are using the qualisys tab, that can be done by modifying the source code of the function you are using in the tab.

One note though: the PID controller might not behave very well when yawing fast continuously, so this is something that will need to be tested.

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