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Crazyflie_test

This is a project to fly crazyflie drone(s) autonomously, using Optitrack Motive motion capture system. The code is meant to be run on Ubuntu 16.04. However, using NatNetClient_Old.py and corrections to "COM" port names in the Main.py should lead to the correct version for Windows-based usage. The project is currently under development and probably has not been cleaned or a few bugs may still exist. The control algorithm is based on Keyvan Mohammadi's paper.

Prequisites

  1. Crazyflie Python Library
  2. SciPy library
  3. Plotly Python Library
  4. Setup Ethernet connection using LAN cable between Ubuntu and Windows (which has Motive). See this video.

Other useful notes:

  1. To run Main.py on Ubuntu, use the current NatNetClient.py and pay specific attention to the NatNet Version. For example, with our device we had to use version 2.9.0.0. optitrackThread = NatNetClient(ver=(2, 9, 0, 0), quiet=True)

  2. In our setup, an Emergency-Stop button was used which was defined in EStop_failsafe = EStop('/dev/ttyUSB0', 115200). In windows, it will be defined as EStop_failsafe = EStop('COM5', 115200)

  3. In our setup, for experimental purposes the first rigid-body (or the one with three marker) is assumed to be the payload, at least for now. Please see the definition of receiveRigidBodyFrame function.

  4. The callback function is different for Windows-based code. Use the following in your Main.py:

def receiveNewFrame( frameNumber, markerSetCount, unlabeledMarkersCount, rigidBodyCount, skeletonCount,
                    labeledMarkerCount, latency, timecode, timecodeSub, timestamp, isRecording, trackedModelsChanged ):
    pass

Using the codes

  1. Number of gains in kPos in PB_Control.py, xOffsets and yOffsets in Trajectory_Planner, numCopters in Main for single-drone or in Main_multi_test must be modified accordingly.