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There is better documentation in the old Crazyswarm regarding configuration of a motion capture: https://crazyswarm.readthedocs.io/en/latest/configuration.html. Generally you have two options: Use VICON Tracker to track your object(s), or use our frame-by-frame tracker. If you choose option 1, then you create an object named exactly like the name in your crazyflies.yaml and otherwise disable motion_capture in the crazyflie_types. For option 2, you don't create any object in Tracker, but configure the markers manually. Option 2 is mostly useful if you have multiple drones with identical marker arrangements. Flipping typically occurs if the axis are incorrect. Make sure that your positive x is front (where the antenna of the CF is). |
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Dear IMRC Team,
We have been trying to fly multiple crazyflies using 4 markers on the motion capture deck with the VICON system, but we have not been able to achieve the same results as when flying with a single marker (drone flips over instantly when doing hello world). May we check if our yaml file settings are correct?
Also when creating the rigid bodies, do we have to create a rigid body in VICON for each individual crazyflie? And how should the rigid bodies be named within VICON?
Thank you!
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