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whoenig / crazyflie_ros

ROS Driver for Bitcraze Crazyflie
MIT License
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unwanted rotation while landing - high level controller + flow #118

Open wydmynd opened 5 years ago

wydmynd commented 5 years ago

I am using the high level controller with flow deck. using the goTo service for motion (all motion relative) and land service for landing. example - cf.goTo(goal=[0.0, 0.2, 0.0], yaw=0, duration=def_duration, relative=True)

when I use yaw commands, upon landing, the drone tries to rotate to initial yaw during landing. this does not apply to x,y motion (lands in place) so it is landing in "corkscrew" motion. any suggestion if this is a problem in the crazyflie_server , I did not encounter this problem when using high level commands in cfclient. thanks!

whoenig commented 5 years ago

The high-level land command doesn't take a desired yaw as input (and rather uses the current yaw as goal orientation), see https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/crtp_commander_high_level.c#L324.

Could you perhaps share the following:

  1. Which firmware version are you using?
  2. Could you provide how you tested the functionality in the cfclient? Did you try that using the same firmware version?
  3. I assume you are referring here to Flow V2, like in issue #119?
wydmynd commented 5 years ago
  1. using bitcraze firmware.
  2. functionality via cfclient was tested the ranging tutorial script https://www.bitcraze.io/getting-started-with-stem-ranging-bundle/ (in retrospect need to re-check that it uses high level, will do it after weekend)
  3. this happens with flow deck V1 and V2
whoenig commented 5 years ago

The motionCommander uses the low-level commands (velocity commands), it seems. So this is likely a bug in the high-level mode. I'll need to test this (hopefully sometime next week).