Is it possible to use CrazyS at the same time with the real crazyflie?

[O2KAN]

Hey @gsilano.

For one of my projects, I would like to see the real crazyflie movement simultaneously in gazebo simulation. For ex: I have one real crazfly. I want to control it as a leader of my swarm. But before testing my codes with many crazfiles in real life, I want to see the actions, movements, etc in a simulation like I have many crayflies. Is it posible to use your repository (CrazyS) for my purpose?
Not: I use crazyswarm repository and libraries to control crazfly using python.

[welcome]

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

[gsilano]

In CrazyS you can simulate as many vehicles as you want. A swarm example is already available However, CrazyS does not take into account the latest Crazyflie's firmware release (it still remains with the 2018 edition, i.e., 2018.01.01). Also, it is necessary to implement the position controller, i.e., the controller that generates the propeller angular velocity signals from the waypoint references (x, y, and z position coordinates and yaw angle) to move the quadrotor to this point.

If you take a look at Wiki, Stefano Grossi already addressed this point. He has implemented a nice extension of Lee's geometric controller for CrazyS (it's available at link). However, I haven't had time to implement his code yet. If you could help with that, it would be appreciated. You could start with my pull request. It is a good point, but it needs to be tested and tuned.