I am trying to use vicon motion capture + crazyswarm.
I am using the following configurations: Duplicate marker arrangement and "libobjecttracker" was being used.
`
<?xml version="1.0"?>
# Logging configuration (Use enable_logging to actually enable logging)
genericLogTopics: ["log1"]
genericLogTopicFrequencies: [10]
genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"]
# firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
# allCrazyflies.yaml to set per drone)
firmwareParams:
commander:
enHighLevel: 1
stabilizer:
estimator: 2 # 1: complementary, 2: kalman
controller: 2 # 1: PID, 2: mellinger
ring:
effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
solidBlue: 255 # if set to solid color
solidGreen: 0 # if set to solid color
solidRed: 0 # if set to solid color
headlightEnable: 0
locSrv:
extPosStdDev: 1e-3
extQuatStdDev: 0.5e-1
kalman:
resetEstimation: 1
# tracking
motion_capture_type: "vicon"
object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
send_position_only: False # set to False to send position+orientation; set to True to send position only
motion_capture_host_name: "192.168.1.1"
# motion_capture_interface_ip: "" # optional for optitrack with multiple interfaces
save_point_clouds: "/dev/null" # set to a valid path to log mocap point cloud binary file.
print_latency: True
write_csvs: False
force_no_cache: False
enable_parameters: True
enable_logging: True
enable_logging_pose: False
`
I am able to run 3 cf's on channel 86 using only 1 crazyradio PA. However when I add the 4th one, atleast one of them flips. The flipping happens at the start of running figure8.py . I have attached a video for reference : https://youtu.be/9_BlTbOxvBc
I chose channel 86 by running radio-test.py file. Even if I add the 4th cf on different radio, the flipping still happens. Not really sure where the issue is.
Thanks - @whoenig @jpreiss - Sorry. Been stuck on this for about 4 days now.
Hello,
I am trying to use vicon motion capture + crazyswarm.
I am using the following configurations: Duplicate marker arrangement and "libobjecttracker" was being used.
` <?xml version="1.0"?>
`
I am able to run 3 cf's on channel 86 using only 1 crazyradio PA. However when I add the 4th one, atleast one of them flips. The flipping happens at the start of running figure8.py . I have attached a video for reference : https://youtu.be/9_BlTbOxvBc
I chose channel 86 by running radio-test.py file. Even if I add the 4th cf on different radio, the flipping still happens. Not really sure where the issue is.
Thanks - @whoenig @jpreiss - Sorry. Been stuck on this for about 4 days now.