Usage¶

Crazyflie Assembly and Test¶

Before going further, follow this tutorial. It explains how to assemble a crazyflie and install the PC client for linux.

Swarm Setup¶

Set crazyflie address. Each crazyflie of the swarm needs to have a unique address. The address format is
```
0xE7E7E7E7<X>
```
where <X> is the crazyflie number in hexadecimal.

Note

It’s highly recommended to label each CF with it’s number.

Set crazyflie channel. Each crazyradio can handle communication with up to 15 crazyflies. If more crazyflies are in your swarm, you will need a different channel for each radio.
If not already done, update each crazyflie firmware.

Positionning System¶

For now, only the LPS (with 8 anchors) was tested for positionning. Follow this guide to setup your system.

Test your setup by flying using bitcraze client.

Configuration Files¶

There are two configuration files:

swarm_conf.yaml

joy_conf.yaml

They are located at: ../crazyflie_charles/ros_ws/src/formation_manager/conf

swarm_conf¶

This file is used to configure parameters of all three ros packages. It’s where you can change the number of crazyflie in the swarm.

# ../crazyflie_charles/ros_ws/src/formation_manager/conf/swarm_conf.yaml
swarm:
    n_cf: 2 # Number of CF in the swarm
    take_off_height: 0.5
    gnd_height: 0.0
    min_dist: 0.40  # Absolute min distance between CFs
    min_goal_dist: 0.40 # Absolute min distance between CFs goals

formation:
    formation_min_dist: 0.6 # Min distance between agents in formation
    formation_start_pos: [0.5, 0.5, 0.5, 0.0] # [x, y, z, yaw]

trajectory_solver:
    # trajectory_solver parameters ...
    ...

# Starting positions. Used in simulation
starting_positions:
    cf_0: [0.0, 0.0, 0.0]
    cf_1: [0.0, 0.5, 0.0]
    cf_2: [0.0, 1.0, 0.0]
    cf_3: [0.5, 0.0, 0.0]
    ...

joy_conf¶

File used to map your controller buttons. To learn how to setup a new a new controller, see this tutorial.

Note

If you are using a ps4 controller (dualshock), you will need to download this driver.

# ../crazyflie_charles/ros_ws/src/formation_manager/conf/swarm_conf.yaml
ds4:
    # Map axes and joystick stick number
    axes: # Axes start at 0
        x: 1
        y: 0
        z: 5
        yaw: 2

    # Map button name and position
    buttons:
        '0': S # Square
        '1': X # Cross
        '2': O # Circle
        '3': T # Triangle
        ...

    # Map buttons on a joystick axis, i.e: d-pad
    buttons_axes:
        '9': DL
        '-9' : DR
        '10' : DU
        '-10': DD

    # Max velocity of goal
    max_goal:
        x: 0.20
        y: 0.20
        z: 0.10
        yaw: 0.20

Flying¶

Turn on and place all your CFs in the flight alrea
Launch ros server
```
$ roslaunch swarm_manager launch_swarm.launch
```
There are two options when launching server:
- sim:=bool (default: True): To run in simulation
- save:=bool (default: False): To save flight data when closing server

In another terminal, execute python script

$ cd ../crazyflie_charles/demos
$ python trade_spots.py

Data Analysis¶

A python script allow to analyse the data took. To run the script

$ cd ../crazyflie_charles/flight_data
$ python flight_analysis.py

Note

It’s possible to specify a file name using -d flag. If no file name specified, latest data will be loaded.

Possible commands:

Rename data set

List all cf in recorded data

Plot flight path of a crazyflie

Plot trajectory error

Note

Enter help to print all commands and their arguments.