Future Project Ideas

Here we will go into more depth on what each of these projects would require:

Migrating Swarm Client PID's to Firmware

Focus Area

Firmware Programming and Communication Protocols

• This project requires heavy modification of the Firmware and Communication systems inside the Crazyflie.

Tasks

Firmware

• (HARD) Modifying Commander Packet Structure to allow position data to be sent rather than pitch, roll, yaw, and thrust setpoints.
• Modifying Firmware to pass the new position data into the correct place for use by the Firmware PID controllers.

Client

• Modify Swarm Client packet construction to match new commander packet protocol in Firmware
• (EASY) Remove Controllers from callbacks and just send location packets to Crazyflies while still maintaining other functionality.

Benefits

• Significantly reduces Client-side computation and allows Crazyflie swarm to share the load.
• Potential extension: Completely independent Crazyflie flight (i.e. No Client needed at all)

Model Development/Verification and Tuning X, Y, and Z Location PID's

Focus Area

Control Systems and Model Development/Verification

• This project will require developing a model of the Crazyflie system and using the Model to calculate PID constants.

Tasks

• (HARD) Identify model Parameters for the Crazyflie
• Construct model in Simulink and Verify simulation compared to test data
• (EASY) Derive PID constants from verified model, test flight performance

Benefits

• VERIFIED MODEL!! We can do many things once we have a verified model of the system.
• Flight performance will be greatly improved allowing more complex applications to be developed.
• Potential extension: Path prediction algorithms and optimal pathing between points with obstacles

Adding Parameter Support to Swarm Client

Focus Area

Communications Protocols and Networking

• This project will require Client-side software development to create helper functions for easy modification of parameters on the Crazyflie Firmware

Tasks

• Creating packet framework in the Client to replicate the parameters packet protocol
• Programming helper functions to make it simple to modify parameters
  • Ex. Write Parameter Value: setParam(string "param_group.param_name", int set_value);
  • Ex. Read Parameter Value: readParam(string "param_group.param_name");

Benefits

• Won't have to re-flash Firmware every time we want to test a parameter change (Improves Firmware testing efficiency)
• Less Firmware modification if we can just write params during Client init.
• Potential Extension: Tuning Firmware PID constants

Threading Each USB Radio to speed up Computation

Focus Area

Computer Architecture and Parallelization

• This project will require/develop a good understanding of parallel processing and computer architecture.

Tasks

• Apply threading to each USB Radio individually
  • A single Radio will be assigned at most 3 Crazyflies, and each thread will handle the corresponding Callbacks for those Crazyflies (which includes control calculations, Radio communications, and logging for each Crazyflie)
• Troubleshoot any issues that come up with non-sequential program execution (shouldn't have problems)

Benefits

• Greatly reduces time required to complete a loop cycle (relative to number of Crazyflies in the Swarm)
  • Improves scalability of the Swarm since we don't need to worry about missing the Camera System new data timing deadline as the Swarm size increases
• Potential Extension: Increasing Swarm size to Camera System capacity limit.

Developing New Controllers for the Crazyflie (pending Model Development)

Focus Area

Control System Development and Implementation

• This project will require a background in theoretical controls modeling and systems design.

Tasks

• Research Control Designs and decide which controller you want to use
  • Examples: State Feedback Control (LQR, LQI, Pole Placement), State Space Controller (Lyapunov Estimator, H2), etc..
• Develop a Simulink model for the controller and implement design in C++.
• Verify model by comparing to real-world tests on the Crazyflie Swarm!

Benefits

• Improved flight control leading to more complex applications
• Maintain control without all the information (State Estimation)
• Potential Extension: Stable control with Stochastic lossy packet transmission

Develop Communications Network Between Crazyflies

Focus Area

Communication Networking and Firmware Development

• This project will require/develop a good understanding of network protocols and creating complex communications networks

Tasks

• Research the Crazy RealTime Protocol (CRTP) used by the Crazyflie
  • CRTP Protocol
  • Enhanced Shock Burst USB Radio Protocol
• (HARD) Modify the Crazyflie Firmware to enable both transmit (tx) and receive (rx) packets
• (HARD) Develop a system in Firmware to utilize the bi-directional communications
  • Example: Using the pitch, roll, or yaw of a Crazyflie to influence control of another Crazyflie(s) without passing it through the Swarm Client

Benefits

• Crazyflies can pass information between themselves
• Stepping stone to fully autonomous Crazyflie Swamrs (No Client needed)
• Opens up many possible extended applications
• Potential Extensions:
  • Relative Swarm Formations (patterns based on distance from other members of the swarm, not some global entity)
  • Create Advanced Trilateration Localization using Swarm itself

Trilateration Position Estimation using a Swarm

Focus Area

Stochastic Lossy Networks and Localization Methods

• This project will develop a noise model for the Crazyflie communications in the lab and use that information to estimate an unknown Crazyflie's position.

Tasks

• Research Trilateration and Develop noise models for the Lab environment
  • Simple Proof of Concept example
  • Trilateration Matlab Code
• (HARD) Develop Client-side sub-routine to collect Received Signal Strength Indicator (RSSI) value from each node (Crazyflie or USB Radio)
• (EASY) Develop Client-side sub-routine to calculate location estimate using RSSI based Trilateration method
• Use position estimate to maintain stable flight without the use of the Camera System

Benefits

• Stepping stone to Outdoor Localization (effective outdoor localization method complimentary with GPS)
• Reduces dependence on Camera System for localization
• Potential Extension: Relative Swarm Formations (position dependent on distance from other members of the swarm, rather than a 'global' origin)

Extending Swarm Client to Larger Quadcopters

Focus Area

Hardware Development and System Modeling

• This project will utilize the Crazyflie's BigQuad Deck Expansion board to convert the motor commands to signals for ESC motor controllers

Tasks

• Research the BigQuad Deck and the Crazyflie Client functionality
• Derive System Model and parameters for the large Quadcopter
• Develop a simple test bench for testing the motor command conversion safely
• Run Flight tests to validate the system model and stability of the scaled-up quadcopter

Benefits

• Allows other lab projects to utilize the Crazyflie's onboard 10-DOF (acc, gyro, mag, baro) sensors without the size, battery, and payload limitations of the Crazyflie!
• Use the Swarm Client Platform as a 'universal' backbone for lab projects.
• Potential Extension: Mount the Crazyflie onto ANY Quadcopter based application and program the Swarm Client to run the application.

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