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Flying Multiple Crazyfile
Posted: Wed Mar 03, 2021 11:59 am
by yuhsiang
Hi,
I am planning to use Crazyfile in my research.
Is it possible to fly multiple Crazyfiles and synchronize each of their logging configure?
Any experience?
Thank you in advance.
Re: Flying Multiple Crazyfile
Posted: Mon Mar 08, 2021 1:09 pm
by arnaud
As wolfgang noted in his answer in your other thread (
viewtopic.php?p=21520#p21520), logs are sampled and timed in the Crazyflie clock and there is not synchronization between Crazyflie clocks implemented as from now.
The way Crazyswarm handles that is by sending a broadcast signal to the swarm to get them synchronized. This will not work with the python lib unfortunately since it does not support broadcast yet.
Without syncrhonization what you can expect is:
- The sampling time of the log will be anywhere in the log period you choose
- There should be only a couple of 10s of milliseconds between a sample is taken in the Crazyflie and it is received on the PC side. So depending of how tight of a synchronization you need, it might be good enough to time the sample at receive time.