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 to completely independent Crazyflie flight (i.e. No Client needed at all)