Python library for controlling the position of the crazyflie 2.0.
- Python 3.6
- Python vicon built for python 3.x
- Crazyflie Client with ZMQ input enabled
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main.py is intended to be a high level command script for controlling the crazyflie
- uav.takeoff(altitude)
- uav.goto(x,y,z)
- uav.land()
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cfControlClass.py creates a queue list for communication and starts up threads
- self.startVicon() spawns vicon thread that captures self.name position data
- self.startControl() spawns control thread that outputs (R,P,Y,T) commands to cfClient based on current position and set-points
- self.startLog() spawns log thread that writes data from the PID thread to a .txt file
- Other threads can be easily added to the class and passed the QueueList dict for passing vicon data, set-points, etc
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viconStream.py collects position data from vicon system
- fake data can be used by setting fakeVicon arg to True
- Position data is .put into two queues
- ["vicon"] intended ONLY for PID. Do NOT .get() data from ["vicon"] queue for other threads, use ["vicon_utility"]
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PID_CLASS.py sends ZMQ messages to cfclient for controlling position
- Accepts set-point messages from ["sp"] queue
- Pulls position data from ["vicon"] queue
- Outputs a dict to ["dataLogger"] queue for logging
- cd inside cfControl folder
- For new scripts, import cfControlClass
- See demo.py for example
- Quad stability depends on high update rate vicon and PID threads. Accessing ["vicon"] data slows down control thread and causes instability
- Implementing a pub-sub message system to prevent thread communication bottle-neck is needed. ZMQ has pub-sub
- Geofence
- Rollover protection
- Landing velocity control
- Takeoff veloocity control
- Guidance selector
- Sub to crazyflie and log