Low unicast receive rate & Unexpected number of broadcast packets

[Flash-Hu]

We made a test with two crazyflies but it shows that the control is unstable. The commands sent to crazyflies are like that:

cf4: (1,0,0) takeoff (1,0,0.5) goTo (1, 1,0.5) goTo (1,0,0.5) goTo (1, 1,0.5) goTo (1,0,0.5) ...... land
cf5: (0,0,0) takeoff (0,0,0.5) goTo (0,-1,0.5) goTo (0,0,0.5) goTo (0,-1,0.5) goTo (0,0,0.5) ...... land

However, some crazyflie may keep hovering after goTo command was sent.

We have noticed some warnings in terminal log like:

• [all] Motion capture rate off (#: 4, Avg: 101.1, Min: 81.7, Max: 139.3)
• [cf4] Unexpected number of unicast packets. Sent: 1162. Received: 22434
• [cf4] Unexpected number of broadcast packets. Sent: 106. Received: 377

but we don't know how to fix it. What problem could it be related to?

Other informations:
Mocap system: Qualisys, running at 100Hz
Radio: 2x Crazyradio 2.0
URI: cf4: radio://0/80/2M/E7E7E7E704, cf5 radio://0/90/2M/E7E7E7E705

terminal log:

[INFO] [launch]: All log files can be found below /home/crazyswarm2/.ros/log/2024-09-14-22-57-47-326598-CrazySwarm2-425319
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/iron/lib/python3.10/site-packages/launch/conditions/launch_configuration_equals.py:53: UserWarning: The 'LaunchConfigurationEquals' and 'LaunchConfigurationNotEquals' Conditions are  deprecated. Use the 'EqualsSubstitution' and 'NotEqualsSubstitution' substitutions instead! E.g.:
  IfCondition(
        EqualsSubstitution(LaunchConfiguration('some_launch_arg'), "some_equality_check")
  )
  warnings.warn(
[INFO] [motion_capture_tracking_node-1]: process started with pid [425322]
[INFO] [crazyflie_server-2]: process started with pid [425324]
[INFO] [teleop-3]: process started with pid [425326]
[INFO] [joy_node-4]: process started with pid [425328]
[INFO] [gui.py-5]: process started with pid [425330]
[INFO] [nice_hover-6]: process started with pid [425332]
[teleop-3] [ERROR] [1726325867.535007919] [teleop]: Unknown mode none
[motion_capture_tracking_node-1] logClouds=0
[crazyflie_server-2] [WARN] [1726325867.558574801] [crazyflie_server]: [cf4] Received unrequested data for block: 3
[crazyflie_server-2] [WARN] [1726325867.558659277] [crazyflie_server]: [cf4] Received unrequested data for block: 3
[crazyflie_server-2] [INFO] [1726325867.562025638] [crazyflie_server]: [cf4] Requesting parameters...
[crazyflie_server-2] [INFO] [1726325867.570026142] [crazyflie_server]: [cf4] Param TOC: 309 entries with CRC 3964469557
[crazyflie_server-2] [INFO] [1726325867.570116855] [crazyflie_server]: [cf4] Param TOC: found cache.
[crazyflie_server-2] [INFO] [1726325867.581235328] [crazyflie_server]: [cf4] reqParamTOC: 0.022663 s (309 params)
[crazyflie_server-2] [INFO] [1726325867.581312818] [crazyflie_server]: [cf4] Update parameter "commander.enHighLevel" to 1
[crazyflie_server-2] [INFO] [1726325867.581325345] [crazyflie_server]: [cf4] Update parameter "locSrv.extPosStdDev" to 0.001000
[crazyflie_server-2] [INFO] [1726325867.581331808] [crazyflie_server]: [cf4] Update parameter "locSrv.extQuatStdDev" to 0.050000
[crazyflie_server-2] [INFO] [1726325867.581337040] [crazyflie_server]: [cf4] Update parameter "stabilizer.controller" to 1
[crazyflie_server-2] [INFO] [1726325867.581341950] [crazyflie_server]: [cf4] Update parameter "stabilizer.estimator" to 2
[crazyflie_server-2] [INFO] [1726325867.592944608] [crazyflie_server]: [cf4] ESTIMATOR: Using Kalman (2) estimator
[crazyflie_server-2] [INFO] [1726325867.594309250] [crazyflie_server]: [cf4] Log TOC: 525 entries with CRC 2205143321
[crazyflie_server-2] [INFO] [1726325867.594371180] [crazyflie_server]: [cf4] Log TOC: found cache.
[crazyflie_server-2] [INFO] [1726325867.594651332] [crazyflie_server]: [cf4] Logging to /pose at 10 Hz
[crazyflie_server-2] [INFO] [1726325867.602362289] [crazyflie_server]: [cf4] Logging to /status at 1 Hz
[crazyflie_server-2] [INFO] [1726325867.610190193] [crazyflie_server]: [cf4] Requesting memories...
[crazyflie_server-2] [INFO] [1726325867.612762946] [crazyflie_server]: [cf4] Memories: 4
[crazyflie_server-2] [WARN] [1726325867.639809822] [crazyflie_server]: [cf5] Received unrequested data for block: 5
[crazyflie_server-2] [WARN] [1726325867.640391028] [crazyflie_server]: [cf5] Received unrequested data for block: 7
[crazyflie_server-2] [INFO] [1726325867.641982365] [crazyflie_server]: [cf5] Requesting parameters...
[crazyflie_server-2] [INFO] [1726325867.645985992] [crazyflie_server]: [cf5] Param TOC: 309 entries with CRC 3964469557
[crazyflie_server-2] [INFO] [1726325867.646009293] [crazyflie_server]: [cf5] Param TOC: found cache.
[crazyflie_server-2] [INFO] [1726325867.665404701] [crazyflie_server]: [cf5] reqParamTOC: 0.025597 s (309 params)
[crazyflie_server-2] [INFO] [1726325867.665702149] [crazyflie_server]: [cf5] Update parameter "commander.enHighLevel" to 1
[crazyflie_server-2] [INFO] [1726325867.665718629] [crazyflie_server]: [cf5] Update parameter "locSrv.extPosStdDev" to 0.001000
[crazyflie_server-2] [INFO] [1726325867.665728981] [crazyflie_server]: [cf5] Update parameter "locSrv.extQuatStdDev" to 0.050000
[crazyflie_server-2] [INFO] [1726325867.665737502] [crazyflie_server]: [cf5] Update parameter "stabilizer.controller" to 1
[crazyflie_server-2] [INFO] [1726325867.665745690] [crazyflie_server]: [cf5] Update parameter "stabilizer.estimator" to 2
[crazyflie_server-2] [INFO] [1726325867.672464094] [crazyflie_server]: [cf5] Log TOC: 525 entries with CRC 2205143321
[crazyflie_server-2] [INFO] [1726325867.672516973] [crazyflie_server]: [cf5] Log TOC: found cache.
[crazyflie_server-2] [INFO] [1726325867.672813413] [crazyflie_server]: [cf5] Logging to /pose at 10 Hz
[crazyflie_server-2] [INFO] [1726325867.675926005] [crazyflie_server]: [cf5] ESTIMATOR: Using Kalman (2) estimator
[crazyflie_server-2] [INFO] [1726325867.679879560] [crazyflie_server]: [cf5] Logging to /status at 1 Hz
[crazyflie_server-2] [INFO] [1726325867.684446801] [crazyflie_server]: [cf5] Requesting memories...
[crazyflie_server-2] [INFO] [1726325867.686574469] [crazyflie_server]: [cf5] Memories: 4
[crazyflie_server-2] [INFO] [1726325867.890504739] [crazyflie_server]: [all] takeoff(height=0.500000 m, duration=1.500000 s, group_mask=0)
[crazyflie_server-2] [WARN] [1726325868.543885140] [crazyflie_server]: [all] Motion capture rate off (#: 4, Avg: 101.1, Min: 81.7, Max: 139.3)
[crazyflie_server-2] [WARN] [1726325868.558666796] [crazyflie_server]: [cf4] last latency update: 1.006287 s
[crazyflie_server-2] [WARN] [1726325868.609702742] [crazyflie_server]: [cf4] Unexpected number of unicast packets. Sent: 1162. Received: 22434
[crazyflie_server-2] [WARN] [1726325868.609741435] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 106. Received: 377
[crazyflie_server-2] [WARN] [1726325868.639869002] [crazyflie_server]: [cf5] last latency update: 1.011012 s
[crazyflie_server-2] [WARN] [1726325868.682906054] [crazyflie_server]: [cf5] Unexpected number of unicast packets. Sent: 1061. Received: 63877
[crazyflie_server-2] [WARN] [1726325868.682949524] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 113. Received: 9246
[crazyflie_server-2] [WARN] [1726325869.543873269] [crazyflie_server]: [all] Motion capture rate off (#: 12, Avg: 101.5, Min: 79.4, Max: 135.6)
[crazyflie_server-2] [WARN] [1726325869.558664962] [crazyflie_server]: [cf4] last latency update: 2.006285 s
[crazyflie_server-2] [WARN] [1726325869.610719478] [crazyflie_server]: [cf4] Low unicast receive rate (0.82 < 0.90). Sent: 949. Received: 780
[crazyflie_server-2] [WARN] [1726325869.610757519] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 355
[crazyflie_server-2] [WARN] [1726325869.686067051] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1058. Received: 885
[crazyflie_server-2] [WARN] [1726325869.686150410] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 101. Received: 360
[crazyflie_server-2] [INFO] [1726325869.891262509] [crazyflie_server]: [cf4] go_to(position=1.000000,1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325869.891434841] [crazyflie_server]: [cf5] go_to(position=0.000000,-1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[motion_capture_tracking_node-1] [WARN] [1726325870.401897278] [motion_capture_tracking]: all dynamic check failed for rigidBody cf4
[motion_capture_tracking_node-1] 
[motion_capture_tracking_node-1] [WARN] [1726325870.402034676] [motion_capture_tracking]: all dynamic check failed for rigidBody cf5
[motion_capture_tracking_node-1] 
[motion_capture_tracking_node-1] [WARN] [1726325870.402047117] [motion_capture_tracking]: No updated pose for cf4 for 0.000170 s.
[motion_capture_tracking_node-1] [WARN] [1726325870.402057171] [motion_capture_tracking]: No updated pose for cf5 for 0.000170 s.
[crazyflie_server-2] [WARN] [1726325870.543869354] [crazyflie_server]: [all] Motion capture rate off (#: 16, Avg: 103.5, Min: 50.3, Max: 342.9)
[crazyflie_server-2] [WARN] [1726325870.609686219] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1056. Received: 902
[crazyflie_server-2] [WARN] [1726325870.609729072] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 99. Received: 364
[crazyflie_server-2] [WARN] [1726325870.639870274] [crazyflie_server]: [cf5] last latency update: 1.996988 s
[crazyflie_server-2] [WARN] [1726325870.681846439] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1077. Received: 917
[crazyflie_server-2] [WARN] [1726325870.681898094] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 98. Received: 372
[crazyflie_server-2] [WARN] [1726325871.543870179] [crazyflie_server]: [all] Motion capture rate off (#: 10, Avg: 101.1, Min: 80.2, Max: 132.1)
[crazyflie_server-2] [WARN] [1726325871.610686991] [crazyflie_server]: [cf4] Low unicast receive rate (0.83 < 0.90). Sent: 1026. Received: 856
[crazyflie_server-2] [WARN] [1726325871.610739219] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 370
[crazyflie_server-2] [WARN] [1726325871.684897297] [crazyflie_server]: [cf5] Low unicast receive rate (0.86 < 0.90). Sent: 1076. Received: 923
[crazyflie_server-2] [WARN] [1726325871.684961165] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 380
[crazyflie_server-2] [WARN] [1726325872.543868811] [crazyflie_server]: [all] Motion capture rate off (#: 10, Avg: 101.2, Min: 79.2, Max: 134.5)
[crazyflie_server-2] [WARN] [1726325872.611731013] [crazyflie_server]: [cf4] Low unicast receive rate (0.84 < 0.90). Sent: 1063. Received: 894
[crazyflie_server-2] [WARN] [1726325872.611792999] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 377
[crazyflie_server-2] [WARN] [1726325872.682886568] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1020. Received: 863
[crazyflie_server-2] [WARN] [1726325872.682933271] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 376
[crazyflie_server-2] [INFO] [1726325872.891448555] [crazyflie_server]: [cf4] go_to(position=1.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325872.891569667] [crazyflie_server]: [cf5] go_to(position=0.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325873.543868647] [crazyflie_server]: [all] Motion capture rate off (#: 2, Avg: 100.8, Min: 81.6, Max: 126.1)
[crazyflie_server-2] [WARN] [1726325873.611673373] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1086. Received: 924
[crazyflie_server-2] [WARN] [1726325873.611712017] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 372
[crazyflie_server-2] [WARN] [1726325873.674881815] [crazyflie_server]: [cf5] High latency: 35.0 ms
[crazyflie_server-2] [WARN] [1726325873.681925894] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1029. Received: 868
[crazyflie_server-2] [WARN] [1726325873.681980459] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 349
[crazyflie_server-2] [WARN] [1726325874.543868961] [crazyflie_server]: [all] Motion capture rate off (#: 6, Avg: 100.9, Min: 83.5, Max: 133.7)
[crazyflie_server-2] [WARN] [1726325874.608710934] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1067. Received: 903
[crazyflie_server-2] [WARN] [1726325874.608765496] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 380
[crazyflie_server-2] [WARN] [1726325874.682891775] [crazyflie_server]: [cf5] Low unicast receive rate (0.83 < 0.90). Sent: 1026. Received: 849
[crazyflie_server-2] [WARN] [1726325874.682934476] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 101. Received: 352
[crazyflie_server-2] [WARN] [1726325875.543868729] [crazyflie_server]: [all] Motion capture rate off (#: 5, Avg: 100.8, Min: 85.5, Max: 125.1)
[crazyflie_server-2] [WARN] [1726325875.609670832] [crazyflie_server]: [cf4] Low unicast receive rate (0.84 < 0.90). Sent: 1083. Received: 914
[crazyflie_server-2] [WARN] [1726325875.609714173] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 372
[crazyflie_server-2] [WARN] [1726325875.680904705] [crazyflie_server]: [cf5] Low unicast receive rate (0.82 < 0.90). Sent: 971. Received: 793
[crazyflie_server-2] [WARN] [1726325875.680942744] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 99. Received: 379
[crazyflie_server-2] [INFO] [1726325875.891751890] [crazyflie_server]: [cf4] go_to(position=1.000000,1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325875.891887823] [crazyflie_server]: [cf5] go_to(position=0.000000,-1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325876.543869691] [crazyflie_server]: [all] Motion capture rate off (#: 9, Avg: 101.3, Min: 78.0, Max: 137.1)
[crazyflie_server-2] [WARN] [1726325876.610701397] [crazyflie_server]: [cf4] Low unicast receive rate (0.86 < 0.90). Sent: 1074. Received: 925
[crazyflie_server-2] [WARN] [1726325876.610748895] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 354
[crazyflie_server-2] [WARN] [1726325876.679895411] [crazyflie_server]: [cf5] Low unicast receive rate (0.83 < 0.90). Sent: 958. Received: 792
[crazyflie_server-2] [WARN] [1726325876.679944390] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 362
[crazyflie_server-2] [WARN] [1726325877.543868150] [crazyflie_server]: [all] Motion capture rate off (#: 7, Avg: 101.3, Min: 81.2, Max: 135.0)
[crazyflie_server-2] [WARN] [1726325877.606760838] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1032. Received: 876
[crazyflie_server-2] [WARN] [1726325877.606863705] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 369
[crazyflie_server-2] [WARN] [1726325877.682909515] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1054. Received: 886
[crazyflie_server-2] [WARN] [1726325877.682960600] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 359
[crazyflie_server-2] [WARN] [1726325878.543871119] [crazyflie_server]: [all] Motion capture rate off (#: 4, Avg: 100.8, Min: 84.2, Max: 128.7)
[crazyflie_server-2] [WARN] [1726325878.609687159] [crazyflie_server]: [cf4] Low unicast receive rate (0.84 < 0.90). Sent: 1062. Received: 897
[crazyflie_server-2] [WARN] [1726325878.609738144] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 381
[crazyflie_server-2] [WARN] [1726325878.678893008] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1033. Received: 871
[crazyflie_server-2] [WARN] [1726325878.678934307] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 388
[crazyflie_server-2] [INFO] [1726325878.892046711] [crazyflie_server]: [cf4] go_to(position=1.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325878.892168461] [crazyflie_server]: [cf5] go_to(position=0.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325879.543870296] [crazyflie_server]: [all] Motion capture rate off (#: 1, Avg: 100.9, Min: 86.1, Max: 133.3)
[crazyflie_server-2] [WARN] [1726325879.607679284] [crazyflie_server]: [cf4] Low unicast receive rate (0.86 < 0.90). Sent: 1091. Received: 939
[crazyflie_server-2] [WARN] [1726325879.607729844] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 343
[crazyflie_server-2] [WARN] [1726325879.681894636] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1083. Received: 911
[crazyflie_server-2] [WARN] [1726325879.681943959] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 382
[crazyflie_server-2] [WARN] [1726325880.543888829] [crazyflie_server]: [all] Motion capture rate off (#: 1, Avg: 100.7, Min: 84.0, Max: 126.8)
[crazyflie_server-2] [WARN] [1726325880.605704894] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1047. Received: 885
[crazyflie_server-2] [WARN] [1726325880.605771070] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 99. Received: 368
[crazyflie_server-2] [WARN] [1726325880.678912964] [crazyflie_server]: [cf5] Low unicast receive rate (0.83 < 0.90). Sent: 1032. Received: 857
[crazyflie_server-2] [WARN] [1726325880.678967388] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 368
[crazyflie_server-2] [WARN] [1726325881.543868970] [crazyflie_server]: [all] Motion capture rate off (#: 5, Avg: 101.1, Min: 73.3, Max: 140.6)
[crazyflie_server-2] [WARN] [1726325881.605701438] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1090. Received: 926
[crazyflie_server-2] [WARN] [1726325881.605753251] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 101. Received: 380
[crazyflie_server-2] [WARN] [1726325881.676905046] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1064. Received: 905
[crazyflie_server-2] [WARN] [1726325881.676955717] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 367
[crazyflie_server-2] [INFO] [1726325881.892317085] [crazyflie_server]: [cf4] go_to(position=1.000000,1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325881.892437698] [crazyflie_server]: [cf5] go_to(position=0.000000,-1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325882.543873194] [crazyflie_server]: [all] Motion capture rate off (#: 11, Avg: 101.3, Min: 74.6, Max: 151.5)
[crazyflie_server-2] [WARN] [1726325882.602768564] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1084. Received: 926
[crazyflie_server-2] [WARN] [1726325882.602874782] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 99. Received: 360
[crazyflie_server-2] [WARN] [1726325882.676902392] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1052. Received: 894
[crazyflie_server-2] [WARN] [1726325882.676943221] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 363
[crazyflie_server-2] [WARN] [1726325883.543909470] [crazyflie_server]: [all] Motion capture rate off (#: 8, Avg: 101.2, Min: 74.0, Max: 130.3)
[crazyflie_server-2] [WARN] [1726325883.601691108] [crazyflie_server]: [cf4] Low unicast receive rate (0.87 < 0.90). Sent: 1061. Received: 918
[crazyflie_server-2] [WARN] [1726325883.601745312] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 360
[crazyflie_server-2] [WARN] [1726325883.676890953] [crazyflie_server]: [cf5] Low unicast receive rate (0.83 < 0.90). Sent: 1058. Received: 875
[crazyflie_server-2] [WARN] [1726325883.676937875] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 379
[crazyflie_server-2] [WARN] [1726325884.543868477] [crazyflie_server]: [all] Motion capture rate off (#: 2, Avg: 100.7, Min: 80.8, Max: 128.0)
[crazyflie_server-2] [WARN] [1726325884.602671757] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1070. Received: 909
[crazyflie_server-2] [WARN] [1726325884.602716957] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 376
[crazyflie_server-2] [WARN] [1726325884.677890100] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1053. Received: 889
[crazyflie_server-2] [WARN] [1726325884.677942230] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 376
[crazyflie_server-2] [INFO] [1726325884.892538963] [crazyflie_server]: [cf4] go_to(position=1.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325884.892649747] [crazyflie_server]: [cf5] go_to(position=0.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325885.543868959] [crazyflie_server]: [all] Motion capture rate off (#: 7, Avg: 101.1, Min: 79.4, Max: 137.0)
[crazyflie_server-2] [WARN] [1726325885.602686603] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1095. Received: 926
[crazyflie_server-2] [WARN] [1726325885.602737411] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 364
[crazyflie_server-2] [WARN] [1726325885.672898208] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1105. Received: 940
[crazyflie_server-2] [WARN] [1726325885.672939217] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 380
[crazyflie_server-2] [WARN] [1726325886.543868906] [crazyflie_server]: [all] Motion capture rate off (#: 7, Avg: 101.0, Min: 83.7, Max: 131.0)
[crazyflie_server-2] [WARN] [1726325886.600815433] [crazyflie_server]: [cf4] Low unicast receive rate (0.86 < 0.90). Sent: 1096. Received: 938
[crazyflie_server-2] [WARN] [1726325886.600863364] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 376
[crazyflie_server-2] [WARN] [1726325886.672896903] [crazyflie_server]: [cf5] Low unicast receive rate (0.87 < 0.90). Sent: 1103. Received: 956
[crazyflie_server-2] [WARN] [1726325886.672936663] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 99. Received: 364
[crazyflie_server-2] [WARN] [1726325887.543871852] [crazyflie_server]: [all] Motion capture rate off (#: 8, Avg: 101.2, Min: 80.3, Max: 136.0)
[crazyflie_server-2] [WARN] [1726325887.599680279] [crazyflie_server]: [cf4] Low unicast receive rate (0.84 < 0.90). Sent: 1088. Received: 915
[crazyflie_server-2] [WARN] [1726325887.599737639] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 380
[crazyflie_server-2] [WARN] [1726325887.671892902] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1073. Received: 913
[crazyflie_server-2] [WARN] [1726325887.671941508] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 388
[crazyflie_server-2] [INFO] [1726325887.892864804] [crazyflie_server]: [cf4] go_to(position=1.000000,1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325887.892969646] [crazyflie_server]: [cf5] go_to(position=0.000000,-1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325888.543871879] [crazyflie_server]: [all] Motion capture rate off (#: 6, Avg: 100.9, Min: 82.2, Max: 126.9)
[crazyflie_server-2] [WARN] [1726325888.599661035] [crazyflie_server]: [cf4] Low unicast receive rate (0.84 < 0.90). Sent: 1074. Received: 899
[crazyflie_server-2] [WARN] [1726325888.599701772] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 388
[crazyflie_server-2] [WARN] [1726325888.671921140] [crazyflie_server]: [cf5] Low unicast receive rate (0.83 < 0.90). Sent: 1080. Received: 899
[crazyflie_server-2] [WARN] [1726325888.671977417] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 384
[crazyflie_server-2] [WARN] [1726325889.543869615] [crazyflie_server]: [all] Motion capture rate off (#: 9, Avg: 101.3, Min: 76.2, Max: 129.1)
[crazyflie_server-2] [WARN] [1726325889.601679219] [crazyflie_server]: [cf4] Low unicast receive rate (0.86 < 0.90). Sent: 1115. Received: 962
[crazyflie_server-2] [WARN] [1726325889.601725831] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 356
[crazyflie_server-2] [WARN] [1726325889.671897878] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1092. Received: 922
[crazyflie_server-2] [WARN] [1726325889.671950320] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 392
[crazyflie_server-2] [WARN] [1726325890.543868181] [crazyflie_server]: [all] Motion capture rate off (#: 7, Avg: 101.4, Min: 79.7, Max: 152.4)
[crazyflie_server-2] [WARN] [1726325890.558669345] [crazyflie_server]: [cf4] last latency update: 1.996004 s
[crazyflie_server-2] [WARN] [1726325890.599674850] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1040. Received: 880
[crazyflie_server-2] [WARN] [1726325890.599722097] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 360
[crazyflie_server-2] [WARN] [1726325890.670925708] [crazyflie_server]: [cf5] Low unicast receive rate (0.86 < 0.90). Sent: 1079. Received: 924
[crazyflie_server-2] [WARN] [1726325890.670979756] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 380
[crazyflie_server-2] [INFO] [1726325890.893161404] [crazyflie_server]: [cf4] go_to(position=1.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325890.893262860] [crazyflie_server]: [cf5] go_to(position=0.000000,0.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325891.543871990] [crazyflie_server]: [all] Motion capture rate off (#: 2, Avg: 100.7, Min: 83.5, Max: 124.0)
[crazyflie_server-2] [WARN] [1726325891.600703114] [crazyflie_server]: [cf4] Low unicast receive rate (0.82 < 0.90). Sent: 1047. Received: 862
[crazyflie_server-2] [WARN] [1726325891.600749758] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 388
[crazyflie_server-2] [WARN] [1726325891.668915588] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1098. Received: 938
[crazyflie_server-2] [WARN] [1726325891.668960483] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 356
[crazyflie_server-2] [WARN] [1726325892.543831908] [crazyflie_server]: [all] Motion capture rate off (#: 6, Avg: 101.0, Min: 81.8, Max: 129.0)
[crazyflie_server-2] [WARN] [1726325892.601079914] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1065. Received: 904
[crazyflie_server-2] [WARN] [1726325892.601257948] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 364
[crazyflie_server-2] [WARN] [1726325892.639870708] [crazyflie_server]: [cf5] last latency update: 1.991003 s
[crazyflie_server-2] [WARN] [1726325892.671939565] [crazyflie_server]: [cf5] Low unicast receive rate (0.84 < 0.90). Sent: 1075. Received: 904
[crazyflie_server-2] [WARN] [1726325892.671991894] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 355
[crazyflie_server-2] [WARN] [1726325893.543868856] [crazyflie_server]: [all] Motion capture rate off (#: 11, Avg: 101.4, Min: 75.3, Max: 144.7)
[crazyflie_server-2] [WARN] [1726325893.597676177] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1087. Received: 921
[crazyflie_server-2] [WARN] [1726325893.597724675] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 372
[crazyflie_server-2] [WARN] [1726325893.669918130] [crazyflie_server]: [cf5] Low unicast receive rate (0.86 < 0.90). Sent: 1088. Received: 932
[crazyflie_server-2] [WARN] [1726325893.669970349] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 364
[crazyflie_server-2] [INFO] [1726325893.893348092] [crazyflie_server]: [cf4] go_to(position=1.000000,1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [INFO] [1726325893.893463827] [crazyflie_server]: [cf5] go_to(position=0.000000,-1.000000,0.500000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server-2] [WARN] [1726325894.543869104] [crazyflie_server]: [all] Motion capture rate off (#: 4, Avg: 100.7, Min: 83.6, Max: 127.8)
[crazyflie_server-2] [WARN] [1726325894.602665485] [crazyflie_server]: [cf4] Low unicast receive rate (0.85 < 0.90). Sent: 1093. Received: 929
[crazyflie_server-2] [WARN] [1726325894.602716576] [crazyflie_server]: [cf4] Unexpected number of broadcast packets. Sent: 100. Received: 372
[crazyflie_server-2] [WARN] [1726325894.667895374] [crazyflie_server]: [cf5] Low unicast receive rate (0.85 < 0.90). Sent: 1089. Received: 924
[crazyflie_server-2] [WARN] [1726325894.667943567] [crazyflie_server]: [cf5] Unexpected number of broadcast packets. Sent: 100. Received: 364

cfclient debug tab:

Cfclient
Cfclient version: 2024.3.post22+8c26257
System: linux
Python: 3.10.12
Qt: 6.7.0
PyQt: 6.7.0

Interface status
radio: Crazyradio version 3.2
UsbCdc: No information available
udp: None
prrt: No information available
cpx: None

Input readers
linuxjsdev (0 devices connected)

Input devices
None

Crazyflie
Connected: radio://0/90/2M/E7E7E7E705
Firmware: ac565120e6ca (CLEAN)

Decks found

Sensors found
BMP3XX: 1
imuPhi: 0.0
imuTheta: 0.0
imuPsi: 0.0
AK8963: 0
LPS25H: 0

Sensors tests
MPU6500: 0
AK8963: 0
LPS25H: 0
imuPhi: 0.0
imuTheta: 0.0
imuPsi: 0.0

cfclient console tab:

SYS: Crazyflie 2.1 is up and running!
SYS: Build 183:ac565120e6ca (2023.11 +183) CLEAN
SYS: I am 0x31323231323247140029003F and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 0 deck(s) found
IMU: BMI088: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Using Complementary (1) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushed motor driver
SYS: About to run tests in system.c.
SYS: NRF51 version: 2024.2 (CF21)
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: Self test passed!
STAB: Wait for sensor calibration...
SYS: Free heap: 17936 bytes
STAB: Starting stabilizer loop
SUP: Can not fly
SUP: Ready to fly
SUP: Can not fly

SUP: Ready to fly

[whoenig]

Hi, thanks for the detailed report.

There are known issues with the communication (lost packets), which explain the behavior of a drone not executing a command. Possible solutions (in order of preference):

1. Use the cflib backend (rather then the default cpp) backend. This is a bit slower, but has no known communication issues.
2. Switch to Crazyradio PA (i.e., the older version of the Crazyradio). Crazyradio 2 has known bugs especially with respect to broadcasts (only used with the cpp backend, so if you use the cflib backend there should be no issues).
3. Use a PC with Intel chipset (the probability on lost packets for AMD machines seems higher in our experiments).

If you want to use two radios, make sure that you change the second URI to radio://1/90/2M/E7E7E7E705, otherwise you use a single radio that constantly has to change channels. If you want to use a single radio, make sure to use the same channel.

[Flash-Hu]

Thanks for your answer! Here are the feedback for these solutions:

1. We tried ros2 launch crazyflie_examples launch.py script:=hello_world backend:=cflib with one crazyflie, but it's even worse: the crazyflie usually cannot successfully take off. It flies up and down, and sometimes even crashes into the ceiling.
   However, if we use two terminals(terminal1: ros2 launch crazyflie launch.py backend:=cflib, terminal2: ros2 run crazyflie_examples hello_world), cflib works well for one or two crazyflies.
   Then why does ros2 launch crazyflie_examples launch.py script:=hello_world backend:=cflib not work even for one crazyflie? We didn't realize that it could be a problem because ros2 launch crazyflie_examples launch.py script:=hello_world seems well for one crazyflie.

2. It works! We made several tests with a single radio using two terminals(2.0/PA + cpp/cflib), and only 2.0+cpp doesn't work.

3. We use PC with 6x Intel(R) Core(TM) i7-1165G7 @ 2.80GHz.

And sorry for the typo. Actually the URI in our test is radio://1/90/2M/E7E7E7E705. We also made some tests using a single radio (cf4: radio://0/80/2M/E7E7E7E704, cf5 radio://0/80/2M/E7E7E7E705) which works fine.

[whoenig]

Thanks for the feedback! For 1., I open issue #570. I assume it is some sort of race condition where the server is not quite ready when the user-script starts.