Parrot Drone Mambo - Optical Flow - Vicon
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I am trying to disable the optical flow functionality in the Parrot Drone Mambo Flight Simulation full implementation design. I was wondering if there is a quick way to disable the optical flow feature and/or instead feed the X,Y,Z position via the Vicon ROS Subscribe block?
A second issue is feeding the parrot drone with X,Y,Z position via the Vicon ROS Subscribe block. It turns out in order for the ROS Subscribe block to work the external target has to be set to ROS instead of Mambo Parrot Drone. So I'm not sure how I can send the Vicon data from my computer to the drone.
Could you please advise how I may address any of the issues above?
Hi Jasvir, I also thought of uploading the Vicon model directly to the parrot mambo but it gave the same errors. Now I’m using the Simulink model that Vicon provides to get the data from Vicon to my PC then I’m sending it using udp send block ( from parrot library) and on the parrot side I’m using udp receive (also from parrot library). I can get the data successfully but there’s a big delay. So do still have that delay problem or you could fix it ? Thanks,
Also what’s the sampling rate you set in the udp receive block ( in the parrot side) ? I set it to 0.005 and the set the Vicon model to 0.005 as well but still there’s a big delay.
I tried what your suggested and removed all the filters to the parrot model. Now, the delay is quite acceptable, however, the drone oscillates in both X and Y direction and diverges at the end. I'm still using the controller parameters provided for "asbQuadcopterStart". I also attached a grapg that shows the Y position and the Y reference (in hovering mode) and it shows the drone oscillating in the Y direction. Did you face this problem or it worked well in your case ?