Does it needs any deck do take off ?

[YHuniv]

Hi ,

I was trying to take off my crazyflie 2.1 without any deck.I did :

sudo apt-get install ros-humble-teleop-twist-keyboard

Termianl1 : ros2 launch crazyflie_examples keyboard_velmux_launch.py Terminal 2 ros2 run teleop_twist_keyboard telop_twist_keyboard

Then, I used T to take off, but drone falls to the side. Did I missed something ?

Thanks by advance.

From : https://imrclab.github.io/crazyswarm2/tutorials.html https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/

[knmcguire]

Based on your title 'Does it needs any deck do take off ?', yes it does if you want it to have positioning. Either there is an absolute positioning system: https://www.bitcraze.io/documentation/system/positioning/ or the flowdeck for relative positioning: https://www.bitcraze.io/products/flow-deck-v2/

[YHuniv]

thanks for quick response. That's mean the IMU estimator did not allow to take off even estimator: 2 ?

all:
  # firmware logging for all drones (use robot_types/type_name to set per type, or
  # robots/drone_name to set per drone)
  firmware_logging:
    enabled: true
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 10 # Hz
      status:
        frequency: 1 # Hz
    #custom_topics:
    #  topic_name1:
    #    frequency: 10 # Hz
    #    vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
    #  topic_name2:
    #    frequency: 1 # Hz
    #    vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]
  # firmware parameters for all drones (use robot_types/type_name to set per type, or
  # robots/drone_name to set per drone)
  firmware_params:
    commander:
      enHighLevel: 1
    stabilizer:
      estimator: 2 # 1: complementary, 2: kalman
      controller: 2 # 1: PID, 2: mellinger

[knmcguire]

It is not that it won't allow to take off, but it will have a very wrong estimate of it's height without an positioning system. So either it estimates it to be too low or too high as it won't be able to estimate this on the IMU alone. In your case, it probably thinks it is already high in the sky and therefore the controllers won't do any effort of making it take off.

Get a flowdeck, or look at the links I've shared before. If you don't have a positioning system you'll only be able to fly it manually.