Setting up Motion Capture

In the file framework.launch.py you can configure the motion_capture system you are using. You can refer to this file: motion_capture.cpp for your specific motion capture system.

Most importantly you need to configure ip and type of your motion capture system.

ViconOptiTrack

"type": "vicon",
"hostname": "172.20.37.251",                 # your vicon ip
"add_labeled_markers_to_pointcloud": True,   # wheter to exclude markers from tracked objects

Marker Configuration and Dynamics Configuration

In the framework.launch.py you can also pass your own version of Tracker Configuration. This allows you can define the marker arrangement you placed on your crazyflie.

For most use cases the default configuration should work out of the box.

Warning

Currently only single marker tracking is supported. The marker configuration is therefore not used and should be ignored.

Dynamics Configuration

In the dynamics configuration settings you can define the maximum dynamics of your crazyflie. Especially the maxVelocity fields define how far a marker is allowed to move each frame. For a slow tracking rate these parameters might need adjustment.