Flying multiple crazyflie with Loco Positioning Node and Crazyswarm

[uhvardhan]

Hi,

Since I do not have a motion capture system in the lab yet, I am currently using Loco Positioning System. I have made any and all changes mentioned in the Installation and Configuration pages of crazyswarm. 1 crazyflie flies perfectly. I am now trying to fly 2:

This is how I set-up the crazyflies.yaml file. A single crazyradio PA is being used only

Now, when I run the hover_launch file, RVIZ never actually gets the approximate position of the 2 crazyflies - They keep changing every second. I do observe a similar behavior when I run cfclient. Never getting the position of the 2 crazyflies.

Does crazyswarm work with Loco Positioning Node? Because when I try to fly 2 - it crashes - does some weird stuff in half a second and crashes.

Thank you

[knmcguire]

hi! Do you mean with changing every second in RVIZ, that the position is not converging? You could check the console tab / crazyswarm read out with the EKF as it should give a warning of:
ESTKALMAN: State out of bounds, resetting

[uhvardhan]

Yes. The position is not converging.

It does give that warning "State out of bounds, resetting"

[whoenig]

Crazyswarm supports LPS by setting the motion_capture_type to none. You still need to configure your drones correctly. Which LPS mode are you using and do you have pose_logging enabled?

[uhvardhan]

Although there is one variable I am not sure about:
motion_capture_host_name is currently set to "vicon". Should I make it None?

[whoenig]

motion_capture_host_name is currently set to "vicon". Should I make it None?

No, that variable is not being used if the motion capture type is none.

[uhvardhan]

I just read that TWR doesn't work with multiple crazyflies.

I should change the LPS mode to TDOA2 or TDOA3? Any suggestions as to which one to choose?

[whoenig]

TDOA3 is the most recommended/tested version.

[uhvardhan]

Thank you! Going to try it out now.

[uhvardhan]

LPS mode was initially "TWR". Once I changed the mode to "TDOA3" - I am able to resolve the issue and fly multiple crazyflies.

Thank you.