micro-SD deck log only zeros for PID controller commands
Posted: Wed Aug 21, 2019 10:46 am
Hello guys,
I have been trying to log some custom variables in the PID controller:
controller.cmd_thrust
controller.cmd_roll
controller.cmd_pitch
controller.cmd_yaw
controller. r_roll
controller.r_pitch
controller.r_yaw,
controller.accelz
You can see what they mean in the branch https://github.com/amreelab/crazyflie-f ... ller_pid.c
The problem is that the variables related to the control signals (controller.cmd_thrust, controller.cmd_roll, controller.cmd_pitch and controller.cmd_yaw) log only zeros, while the other variables log correct expected values.
My config.txt file in the SD card is as follows:
500 # frequency
100 # buffer size
log # file name
1 # enable on startup (0/1)
2 # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)
controller.cmd_thrust
controller.cmd_roll
controller.cmd_pitch
controller.cmd_yaw
controller. r_roll
controller.r_pitch
controller.r_yaw,
controller.accelz
Another important point is that I am flying with both SD card deck and flow deck. I have seen that there might be some issues with this configuration, but not sure if they still exist in the latest firmware. Also, I do not understand why the sensor variables log OK and the control variable log only zeros. Any ideas? I can test without the Flow deck, but I would like to keep it in principle for assisted hovering.
I have been trying to log some custom variables in the PID controller:
controller.cmd_thrust
controller.cmd_roll
controller.cmd_pitch
controller.cmd_yaw
controller. r_roll
controller.r_pitch
controller.r_yaw,
controller.accelz
You can see what they mean in the branch https://github.com/amreelab/crazyflie-f ... ller_pid.c
The problem is that the variables related to the control signals (controller.cmd_thrust, controller.cmd_roll, controller.cmd_pitch and controller.cmd_yaw) log only zeros, while the other variables log correct expected values.
My config.txt file in the SD card is as follows:
500 # frequency
100 # buffer size
log # file name
1 # enable on startup (0/1)
2 # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)
controller.cmd_thrust
controller.cmd_roll
controller.cmd_pitch
controller.cmd_yaw
controller. r_roll
controller.r_pitch
controller.r_yaw,
controller.accelz
Another important point is that I am flying with both SD card deck and flow deck. I have seen that there might be some issues with this configuration, but not sure if they still exist in the latest firmware. Also, I do not understand why the sensor variables log OK and the control variable log only zeros. Any ideas? I can test without the Flow deck, but I would like to keep it in principle for assisted hovering.