Using Trained Model On Real Crazyflie Drone

[zcase]

@SvenGronauer Do you have an example somewhere that shows how you took a trained model and used it on a real Crazyflie drone?

[SvenGronauer]

Hi,
please see 0:13 - 0:32 of the following video for PWM control mode
https://github.com/user-attachments/assets/579c0658-b909-405f-bc9b-705dbf448961

[zcase]

@SvenGronauer This is great thank you, but how did you get your trained model from simulation to actually run on the crazyflie? Did you put it in the firmware and if so is that process posted here to repeat?

[mayhorizon]

Hi @zcase ,
We worked on this with our universities and used the trained model on a real crazyflie. Here is our repo : https://github.com/romainm13/crazyflie_ai

[SvenGronauer]

@SvenGronauer This is great thank you, but how did you get your trained model from simulation to actually run on the crazyflie? Did you put it in the firmware and if so is that process posted here to repeat?

We modified the firmware accordingly and replaced the controller with custom code.

One way to do that is by using the package "keras2c” for generating the C-code of the neural networks (NNs). As far as I remember the workflow was as follows:
(1) train NN with PyTorch
(2) transfer Pytorch model to TensorFlow model
(3) use keras2c for TensforFlow model to C code

[zcase]

@mayhorizon I noticed that there was a comment on that repo that you pointed to that said to fix the sim2real example. Where yall able to get everything working with that?

@SvenGronauer Thank you very much ill have to look into that process. Do you all have the firmware and your models you used available to test?

[SvenGronauer]

Hi @zcase,

I have an outdated version of the CrazyFlie firmware (from 2020) that we used for experimentation. If you are interested, please reach out via e-mail, then I can send you the files.

[mayhorizon]

@mayhorizon I noticed that there was a comment on that repo that you pointed to that said to fix the sim2real example. Where yall able to get everything working with that?

I don't remember quite well but yes, everything was working fine, we tested it on a real crazyflie and sent the positions given by the trained model to the python api of the crazyflie. It was a ping pong game between the model to which we were sending the real positions of the drone and the drone to which we were sending the goal positions given by the trained model. We also developed an app with more details on this repo : https://github.com/romainm13/crazyflie_backend .

[zcase]

@mayhorizon I get a 404 request when going going to the provided link.. Is the repo private?