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whoenig avatar whoenig commented on August 22, 2024

The included controller is a very basic PID controller. Those oscillations could come either from real oscillations of the CF, or jitter created by your Mocap system (which can happen for those small UAVs if the cameras are far away). I don't think I ever plotted the control output (I usually look at desired vs. true state), but my best guess is that this is unfortunately "normal".

I would recommend using the Crazyswarm project instead, even if just flying a single CF. You would need a custom firmware, but a much better non-linear controller runs on-board. It also supports ellipsoid motions and waypoint navigation, see https://github.com/USC-ACTLab/crazyswarm for details.

Good luck with your thesis - I am glad you choose the CF platform for testing!

from crazyflie_ros.

DarioMariniello avatar DarioMariniello commented on August 22, 2024

Thank you! Both the answer and the suggestions are really useful. I'm actually flying three\four crazyflies with the same radio and also implementing in some cases, in a really dense formation (I also have implemented collision avoidance), so the project crazyswarm looks perfect. The only problems are that I use a Qualisys Mocap, do you think i can easily adapt the code?Moreover, I run my code on ROS indigo..is it going to be a problem in your opinion? Thanks a lot!

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whoenig avatar whoenig commented on August 22, 2024

Does Qualisys have a C++ Linux SDK which allows to get the 3D points of markers? If so it would be easy to integrate. I believe it compiles on ROS Indigo just fine - we switched to Kinetic during development in our lab so we didn't test the latest version with Indigo.

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whoenig avatar whoenig commented on August 22, 2024

Closing this issue. If you need help with Qualisys integration for the crazyswarm, please open an issue there.

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