Updating crazyflie firmware to silence warning #491
-
|
Hey guys, As mentioned in some other issues/discussions, I get the following warning on startup of the CS2 server:
I then get the following repeat warning:
I just have a singular crazyflie with unique marker arrangements, tracking with Optitrack and Motive, for one crazyradio2. My Motive version is old (2.2.0), so I use optitrack_closed_source. I am also working through the best settings: do I define an asset in Motive, do I not, do I use libRigidBodyTracker, et c. Any additional thoughts on that would also be appreciated. Thanks, |
Beta Was this translation helpful? Give feedback.
Replies: 1 comment 2 replies
-
|
Firmware: The latest would require you to compile it yourself (master branch from bitcraze). You can also adjust the receive rate thresholds in server.yaml to silence the warnings. Config: My personal favorite is to use a single marker, and not defining an asset in Motive. If you do need the external pose information, I would use Tracker for Vicon, but no asset in Motive (because it doesn't have a motion filter and tends to produce axis flips). |
Beta Was this translation helpful? Give feedback.
-
|
Related question: if I use a single-marker setup, how do the local and global coordinate frames get defined? One of the benefits (we thought) about using the asset in Motive was the ability to define the desired frames and pivot point. When I've successfully streamed the unlabeled markers, the local crazyflie frame seems to resolve through the outermost point (we have one marker defined out-of-plane of the deck for asymmetry). This gives the crazyflie frame a slight cant, which we think is messing up flight currently. |
Beta Was this translation helpful? Give feedback.
-
|
For single-marker one can define an offset, although this only makes sense for z. It is assumed that the single marker is in the center of mass in the x-y-plane (since orientation is not known, we wouldn't be able to compute any valid transformation). For the multi-marker mode, one just defines the positions of the individual markers in body frame, ICP takes care of the rest. The coordinate frames follow the Crazyflie/ROS standard: right-handed, and positive z is up, positive x is front (where the antenna is). |
Beta Was this translation helpful? Give feedback.
Firmware: The latest would require you to compile it yourself (master branch from bitcraze). You can also adjust the receive rate thresholds in server.yaml to silence the warnings.
Config: My personal favorite is to use a single marker, and not defining an asset in Motive. If you do need the external pose information, I would use Tracker for Vicon, but no asset in Motive (because it doesn't have a motion filter and tends to produce axis flips).