Simulation comparison

This demo is intended as a lightweight comparison between a simulation model of the crazyflie and the data collected through a short position-controlled flight of crazyflie.

Python script to run can be found at MicroCART/crazyflie_demos/basic_hover_demo.py. Currently on simulation_dev branch.

Matlab component can be found at controls/Sim-nonlinear-quad-example/logs_vs_simulation.slx. Ensure that quad_params.m in the same folder has been run prior to running the simulink file.

Simulation Comparison Explanation Video

Simple Swarm Circle

This demo is intended to show that multiple quads can be controlled at once. It has two drones hover, and then fly in vertical circles.

Python script to run can be found at MicroCART/crazyflie_demos/basic_hover_demo.py. Currently on simulation_dev branch.

Simple Swarm Circle Explanation Video

Lighthouse / VR demo

Useful links

• OpenVR quick start guide
• Steam VR API
• Python binding for openVR calls
• getting roll pitch yaw from VR pose

Setup

1. install steam vr from steam client (in steam store)
2. setup steam vr config to use multiple drivers, force null headset, and stop screen sleeping, C:\\Program Files (x86)\\Steam\\config\\steamvr.vrsettings or \~/.local/share/steam/config/steamvr.vrsettings

{
...
...
"power" : {
  "pauseCompositorOnStandby" : false,
  "turnOffScreensTimeout" : 3000
},
"driver_null" : {
    "displayFrequency" : 30,
    "enable" : true,
    "serialNumber" : "Null Serial Number", 
    "modelNumber" : "Null Model Number",
    "windowX" : 0,
    "windowY" : 0,
    "renderHeight" : 480,
    "renderWidth" : 852,
    "windowHeight" : 480,
    "windowWidth" : 852,
    "secondsFromVsyncToPhotons" : 0.01111111,
},
"steamvr" : {
  "activateMultipleDrivers" : true,
  "forcedDriver": "null",
  "enableHome": false,
   ...
}
...
...
}

3. Power on the Vive controller
4. Plug-in Vive controller via USB or wirelessly with a wireless dongle
5. start Steam VR
6. run room scale setup like normal
7. start crazyflie demo