UASTA
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== Usage == | == Usage == | ||
| − | ... | + | === uASTA with Loco Positioning System (ultra-wide band) === |
| + | |||
| + | [[File:Intro to uasta thumbnail.png|200px|thumb|left|[[https://youtu.be/cjsaF6WJqHI https://youtu.be/cjsaF6WJqHI]]]] | ||
| + | |||
| + | N = number that identifies your Crazyflie | ||
| + | |||
| + | * Startup your Crazyflie while facing the x direction | ||
| + | |||
| + | * Start a ROS server for your Crazyflie: | ||
| + | |||
| + | <code> cfstart N </code> | ||
| + | |||
| + | * Check the current level of the battery (it should be above 3.8): | ||
| + | |||
| + | <code> battery </code> | ||
| + | |||
| + | * Check that the position estimate is stable in RViZ: | ||
| + | |||
| + | <code> rviz </code> | ||
| + | |||
| + | * Run you code in Simulink | ||
| + | |||
| + | === uASTA with Optitrack (motion capture system) === | ||
| + | |||
| + | N = number that identifies your Crazyflie | ||
| + | |||
| + | * Startup your Crazyflie while facing the x direction | ||
| + | |||
| + | * Start a ROS server for your Crazyflie: | ||
| + | |||
| + | <code> cfstart N </code> | ||
| + | |||
| + | * Check the current level of the battery (it should be above 3.8): | ||
| + | |||
| + | <code> battery </code> | ||
| + | |||
| + | * Start an Optitrack server for you Crazyflie: | ||
| + | |||
| + | <code> optitrack N </code> | ||
| + | |||
| + | Troubleshooting: the markers mounted on your Crazyflied have to be registered as a rigid body called cfN (e.g., cf12) on the Optitrack computer in the central cabin. See [[ASTA_motion_capture]] for more information. | ||
| + | |||
| + | * Check that the position estimate is stable in RViZ: | ||
| + | |||
| + | <code> rviz </code> | ||
| + | |||
| + | * Run you code in Simulink | ||
Latest revision as of 17:31, 15 June 2021
Contents |
[edit] Installations
...
[edit] Usage
[edit] uASTA with Loco Positioning System (ultra-wide band)
N = number that identifies your Crazyflie
- Startup your Crazyflie while facing the x direction
- Start a ROS server for your Crazyflie:
cfstart N
- Check the current level of the battery (it should be above 3.8):
battery
- Check that the position estimate is stable in RViZ:
rviz
- Run you code in Simulink
[edit] uASTA with Optitrack (motion capture system)
N = number that identifies your Crazyflie
- Startup your Crazyflie while facing the x direction
- Start a ROS server for your Crazyflie:
cfstart N
- Check the current level of the battery (it should be above 3.8):
battery
- Start an Optitrack server for you Crazyflie:
optitrack N
Troubleshooting: the markers mounted on your Crazyflied have to be registered as a rigid body called cfN (e.g., cf12) on the Optitrack computer in the central cabin. See ASTA_motion_capture for more information.
- Check that the position estimate is stable in RViZ:
rviz
- Run you code in Simulink
