What is the maximum frequency of sending goto goal commands to crazyflie?

[pthinesh]

Hello Everyone!

I am trying to run a swarm algorithm by computing the goal position in the computer and sending goTo command in every 0.1 second duration (10 Hz) to travel less than 1 cm absolute point to point distance. When I send these commands to the drones, it is becoming unstable and collapsing.
But when I send commands in every 4 seconds (0.25 Hz) to travel 10 cm distance, drones moves smoothly.

I would like to know what is the maximum and minimum distance that can be traveled between two goTo commands and what is the maximum frequency of sending any commands (e.g cmdFullState, cmdVelocityWorld, cmdVel) to crazyflie to have a smooth movement?

Could someone advise me on this?

Thanks

[whoenig]

I have seen those issues as well. There is no maximum frequency (the radio will limit the bandwidth). The goTo command uses trajectory optimization internally on-board the drone, which can be numerically unstable for small dt. In such a case, it is better to use one of the commands (e.g., cmdFullState) instead.