Crazyflie Configuration

Note

If you are not using real hardware crazyflies (webots simulation) you do not need to configure anything in software. For most basic hardware setups the default configuration is also sufficient.

For the hardware there are two .yaml files which are used to configure the Crazyflie. The default files are automatically loaded if no changes are made and should be sufficient for most use cases. If you need parameters to be set at startup or have a specific motion_capture setup you can create your own .yaml files and load them instead.

Both files are arguments of the crazyflie_hardware_gateway.launch.py launch file. You can therefore pass the parameter crazyflie_types_yaml or crazyflie_configuration_yaml (see). Follow this tutorial to learn about ros2 launch arguments: Using Substitutions.

When launching with the framework.launch.py both arguments are passed through and can be used just like with the gateway.

Crazyflie types (crazyflieTypes.yaml)

With the crazyflie_types_yaml you can define the configuration with which a crazyflie is launched. The default file used describes two types of Crazyflies. One tracked and another untracked. This type can be used when calling gateway/add_crazyflie.

crazyflieTypes:
tracked:
    sendExternalPosition: true
    sendExternalPose: false
    maxInitialDeviation: 0.4
    markerConfigurationIndex: 4
    dynamicsConfigurationIndex: 0

  • sendExternalPosition: Use external tracking such as vicon/optitrack

  • sendExternalPose: Sends not only the position but also the pose to the crazyflie (untested)

  • maxInitialDeviation: Currently not fully implemented. If the crazyflie is added to the tracking service and there is no point close, returns false (being ingored)

  • markerConfigurationIndex: The marker configuration index as described above

  • dynamicsConfigurationIndex: The dynamicsConfigurationIndex as described above

Crazyflie config (crazyflie_config.yaml)

With the crazyflie_config.yaml you can define the default parameters which are loaded onto the crazyflie when it is connected. As in Parameters you can visit Crazyflie Parameters to find available parameters. The most important setting here is the estimator and stabilizer used and in case you are using external tracking the input can be configured.

  1. stabilizer.estimator: 1: complementary, 2: ekf

  2. stabilizer.controller: 1: pid, 2: mellinger

  3. locSrc.extPosStdDev: 1e-3: The standard deviation of the external position source, e.g. vicon/optitrack.

In the default file this is set to complementary estimator and mellinger controller.