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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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Instability problems when flying multiple crazyflies #569

Closed Sherry-97 closed 2 years ago

Sherry-97 commented 2 years ago

When I was doing a multi-cfs flight, The aircraft was relatively stable during the initial takeoff phase, and I used the goto function to fly multiple coordinate points, midway through the flight the drone started to become unstable and eventually crashed. Then the error was reported in rviz as unable to find the position information of the cf coordinate points I suspect it may be a problem with optitrack tracking, as I can see the warning that cf location information could not be found in a brief hover before the crash. Here are some of my setup files, hope to get some advice, thanks! Snipaste_2021-12-22_11-24-14 Snipaste_2021-12-22_11-26-00 Snipaste_2021-12-22_11-26-20 Selection_011 By the way, I followed some previous advice and chose the libobjecttracker tracking method and the stability seems to have gotten worse, I'm not sure why

whoenig commented 2 years ago

This is most likely caused by object tracking being unstable (jitter or axis flips). The best way to deal with that is to use libobjecttracker with a single marker per Crazyflie. Even the multiple-marker tracking mode in libobjecttracker seems to be more robust than the tracking in Motive 2.X.