UASTA

Installations

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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