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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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Crazyswarm sudden Instability Mid Flight - using Optitrack #642

Closed 07hokage closed 2 years ago

07hokage commented 2 years ago

I'm using Optitrack and VRPN ( hover_swarm.launch configured accordingly ). I was getting errors using optitrack closed source (Motive 1.10) hence switched to vrpn.
Swam of 4 cfs were flying perfectly until 3 of them suddenly became unstable and started flying into the ground.

Video here: https://youtu.be/WDlSzFrMwYM

I referred to the issue #529 . But in my case, it happened in the middle of the flight which is strange. I verified that the coordinate frames are correct and data is also matching the movement. @whoenig can you please help me out. I'm really planning to procure more cfs if this can be sorted out

07hokage commented 2 years ago

Unpopular solution! In addition to the above mentioned issue, I also experienced crashed while taking off and just after takeoff using multiple crazyflies. I observed that LED blinking on the crazyflies was causing jittering and axis flipping. When I covered the blinking Red LED, suddenly everything works fine now. I'm able to take off all 4 now and able to maneuver them.
Can anyone confirm if they had tried this?

07hokage commented 2 years ago

Update-2: It worked well for sometime, but started repeating gain. As soon as i send the takeoff command, the axes starts flipping and the CF flips over