problems in swarm_demo in crazy-firmware

[Edward-nwpu]

Hi,everyone:
I'm reading the code of swarm_demos in crazy-firmware and I'm puzzled of the trajectory coefficients which the demo shows. I want to ask how to generate the coefficient from the waypoint I set? Is somebody can offer me a script to make clear this issue? Or give me enlightenment about this?
Thank you very much!

[krichardsson]

Hi!

You can read about the high level trajectory format in our documentation.

One way is to create them by hand, the compressed format is easiest to use since it is based on bezier curves.
Another option is to use the tool in whoenig/uav_trajectories to generate polynomials from a set of waypoints.

[Edward-nwpu]

Tank you for your reply! I have read the code you suggest me to read and solved this problem and write a script by another way.
Thank you very much!