Control with VICON
Posted: Sun May 01, 2022 11:16 am
I am planning to write my own LQR controller (onboard) from setpoints to motor power distributions. For this I will make changes to the firmware.
I want to do this using position and attitude data from a VICON motion capture system. Can I neglect the gyroscope and observer and only make use of the data from VICON to control one crazyflie? Or is it possible to include the VICON data with the gyroscope and observer?
I read that Crazyswarm supports external motion capture systems as VICON, but the Crazyflie Python API does not? Also is Crazyswarm just a way to control (send commands/setpoints) to one or more crazieflies with external motion capture systems? As in, it is not related to the firmware in which i want to change the controller structure right?
I want to do this using position and attitude data from a VICON motion capture system. Can I neglect the gyroscope and observer and only make use of the data from VICON to control one crazyflie? Or is it possible to include the VICON data with the gyroscope and observer?
I read that Crazyswarm supports external motion capture systems as VICON, but the Crazyflie Python API does not? Also is Crazyswarm just a way to control (send commands/setpoints) to one or more crazieflies with external motion capture systems? As in, it is not related to the firmware in which i want to change the controller structure right?