crazyswarm2 and low level commands (Swarm Interface) #516
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I would like to ask whether the current swarm interface is able to command low level inputs ( |
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So are you asking about the capabilities of the crazyflie python library or those in crazyswarm2 itself? Because both is possible. The function you have given here is part of the CFlib api: https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/api/cflib/crazyflie/commander/ The topic cmd_vel_legacy sends roll pitch yaw thrust setpoints: crazyswarm2/crazyflie/scripts/crazyflie_server.py Lines 971 to 981 in 8ac5b7f |
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ah like that! but that is out of the scope of this particular discussion so that is why I think the confusion happened then. You should ask this question technically on https://discussions.bitcraze.io/ but I can tell you here already: anything you can send to a single crazyflie, you can send with the swarm class as well.
This swarm example shows a send_hover_setpoint(), but that is part of the commander class which also includes just set_sepoint.
The reason why the high level commander exists, is that less packages need to be send in order to get some actions from the crazyflie using the onboard autonomy, since the Crazyradio can only handle 400ish packets per second (which is shared with…