search

USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
319 stars 316 forks source link

Drone state estimation drifting significantly for static drone #733

Closed nl22-nmsu closed 1 year ago

nl22-nmsu commented 1 year ago

Hi, I've been using crazyswarm for a couple months now and just recently I've had the issue where the drone's position drifts quite a lot. My best guess is that it is maybe an issue in the state estimation but I'm not sure how to fix it. The vicon position is stable when I use "roslaunch crazyswarm mocap_helper.launch" to look at it. When I echo the topic "/cf1/pose" I can see the drift in the x and y coordinates.

Any help on solving this would be awesome.

whoenig commented 1 year ago

Sounds like you might use a different radio that doesn't have the custom firmware? This drifting is an indication that broadcast communication doesn't work, which requires the custom radio firmware.

nl22-nmsu commented 1 year ago

It looks like it was the radio firmware. The large positional drift is fixed, however while running the hello_world script the crazyflie will start off fine but then starts to spiral outward and eventually crashes.

nl22-nmsu commented 1 year ago

To add to my last comment. I printed the rate that the /cf1/pose topic is being updated and it's only about 2hz.

nl22-nmsu commented 1 year ago

Is there a solution to the slow CF position updates? Has this problem been encountered before?

nl22-nmsu commented 1 year ago

I solved this by reinstalling crazyswarm.