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Hi,
I am currently trying to control drones by controlling either their position in space and their attitude. I know that a quadcopter only has 4 degree of freedom, so the attitude and position in space are heavily related.
I have found the cmdFullState topic and I have some questions about it.
Firstly, I want to know if I have well understood the topic. With this topic you can send a command with a desired pose, a desired linear velocity, a desired yaw and a desired angular velocity ?
Secondly, by taking in account that the answer to my first point is true, how is it possible for a quadcopter which has 4 DoF to send a desired pose and linear velocity in the same time ? Moreover how can you set a desired pose and angular velocity in the same time ? The angular part and the linear part need to be coherent together to not be contradictory.
So I want to know how the things works under the hood of this topic, to understand better if it is a useful topic for my use case and how to use it well.
Thanks a lot in advance !
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Hi,
I am currently trying to control drones by controlling either their position in space and their attitude. I know that a quadcopter only has 4 degree of freedom, so the attitude and position in space are heavily related.
I have found the cmdFullState topic and I have some questions about it.
crazyswarm2/crazyflie_py/crazyflie_py/crazyflie.py
Lines 559 to 602 in 97ed0a9
Firstly, I want to know if I have well understood the topic. With this topic you can send a command with a desired pose, a desired linear velocity, a desired yaw and a desired angular velocity ?
Secondly, by taking in account that the answer to my first point is true, how is it possible for a quadcopter which has 4 DoF to send a desired pose and linear velocity in the same time ? Moreover how can you set a desired pose and angular velocity in the same time ? The angular part and the linear part need to be coherent together to not be contradictory.
So I want to know how the things works under the hood of this topic, to understand better if it is a useful topic for my use case and how to use it well.
Thanks a lot in advance !
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