I have been using the most recent build of crazyswarm to send velocity commands to a handful of crazyflies, and I noticed a couple of significant difference between using the --sim argument vs running an experiment.
In simulation I can call yaw() on the crazyflie objects (similar to position()) to get to the current yaw angle. This causes a crash in the experiment, with an error that no function yaw() exists. Is there an alternative way to get the current yaw angle? I haven't found one in the docs.
Calling the land function causes the crazyflies to fly straight down when using the --sim argument, but in experiments the crazyflies seem to move back toward their initial positions on the ground instead. I see that the land function is not supported after calling CmdVelocityWorld, so it might be worthwhile to print an error (or just have it do nothing) so that the behaviors match.
I'm using a VICON mocap system, and everything seems to be running correctly aside from these couple of issues. I occasionally get hover_swarm to crash with an "unknown transform" error, but I can post a separate issue when I figure out how to reproduce it.
Hi All,
I have been using the most recent build of crazyswarm to send velocity commands to a handful of crazyflies, and I noticed a couple of significant difference between using the --sim argument vs running an experiment.
I'm using a VICON mocap system, and everything seems to be running correctly aside from these couple of issues. I occasionally get hover_swarm to crash with an "unknown transform" error, but I can post a separate issue when I figure out how to reproduce it.
Thanks, Logan