A collection of tools to develop controllers for the Crazyflie using Drake
- install the lcm types
cd lcm
sudo python setup.py install
- install the client
cd crazyflie-clients-python
sudo bash setup.sh
- install the estimator
cd estimation
sudo python setup.py install
sudo pip install filterpy
- flash the firmware
cd crazyflie-firmware-2
make cload
- install vicon
cd vicon
mkdir bin
mkdir obj
cp lib/libViconDataStreamSDK_CPP.so /usr/lib/libViconDataStreamSDK_CPP.so
make
- run the vicon client to get sensor data
vicon/bin/vicon_lcm_client objectname
- run the crazyflie client
./simpleclient
- You can send lcm commands from the nanokontrol board
./nanokontrol
- You can also use drake to send commands ("crazyflie_input" channel), and therefore build pretty sophisticated controllers. See Drake's documentation for more details.
You can regenerate the lcm types if you have lcm installed.
- Install LCM (lcm-gen)
- add lcm.jar to CLASSPATH
- run lcm/make_types
How to use LCM logging with MATLAB:
- Take your logs. On a computer that is recieveing the relavent LCM messages, run
$ lcm-logger
in the directory you want your log files. This will produce a file that contains all your LCM messages.
- Export to .mat format
$ python log_to_mat.py -f -l lcmtypesmodule,anotherlcmtypemodule lcmlogfile
After running make -j in the drake-distro/director folder:
drake-distro/build/bin/ddConsoleApp -m crazyflieviewer
you can play a log back
lcm-logplayer -s .5 lcmlog-2015-04-02.00
and visualize it in matlab
addpath_crazyflie
cf=Crazyflie()
cf.visualizeStateEstimates()