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I setup the LPS and I am now running the "swarmSequence.py" script using only 1 Crazyflie for now. Is there anyway I can reduce the speed of Crazyflie when changing positions? I have seen Also, I am trying to use both the flow deck and LPS. The drone takes off and lands using the Motion Commander and moves to setpoints with LPS. However the drone shakes when moving positions. Is this expected behavior? Here is the code for reference:
Thanks a lot! |
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This is the api documentation of the commander framework you are using: https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/api/cflib/crazyflie/commander/ The full state setpoint will only indicate the setpoints that you want the crazyflie to be at that point in time, and PID doesn't technically support that (mellinger does). But I don't think that is what you want. There are several ways for you to solve this:
The wrapper that goes around the commander class is technically the motion commander class, but unfortunately hasn't gotten a go_to option in there: https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/api/cflib/positioning/motion_commander/. You can also consider writing something yourself with velocity setpoints (like a pid controller layer offboard but you'll probably only need the P gain) |
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This is the api documentation of the commander framework you are using: https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/api/cflib/crazyflie/commander/
The full state setpoint will only indicate the setpoints that you want the crazyflie to be at that point in time, and PID doesn't technically support that (mellinger does). But I don't think that is what you want.
There are several ways for you to solve this: