UASTA: Difference between revisions

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== Usage ==
== Usage ==


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=== 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

Installations

...


Usage

uASTA with Loco Positioning System (ultra-wide band)

[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:

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

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