Using Multiple CFs

[GideonLombardo]

Hello

As most of you have seen, I have been in the process of configuring my Crazyswarm system. I have gotten stable hovering flight with a single CF. I am now moving on to using multiple CFs in my research. I have defined a new CF in my Crazyswarm system and in the Vicon system which I use for motion capture. I use unique marker configurations in my research. The crazyswarm server will not track both CFs for some reason.

I receive the following error:

terminate called after throwing an instance of 'std::runtime_error'
  what():  No matching USB Device with devid = 1 found! Do you have a Crazyradio dongle connected?

This issue is fixed when I stop tracking one of the CFs in Vicon. However, I need to be able to track multiple CFs for my research.

Here are my yaml files:

crazyflies.yaml:

crazyflies:
- channel: 80
  id: 5
  initialPosition:
  - 1.5
  - 1.5
  - 0.0
  type: medium
- channel: 90
  id: 6
  initial Position:
  - -1.0
  - -0.5
  - 0.0
  type: medium

allCrazyflies.yaml:

crazyflies:
  - id: 5
    channel: 80
    initialPosition: [1.5, 1.5, 0.0]
    type: medium
  - id: 6
    channel: 90
    initialPosition: [-1.0, -0.5, 0.0]
    type: medium

And a picture of my chooser is attached.

I am concerned that there is something wrong my Crazyradio, but I followed the documentation to flash the latest firmware.

Does anyone have any suggestions? Please let me know.

[aarsht7]

Hello,
I am not sure if it will help or not. I encountered something similar while using the usb-C port connected to usb-hub with multiple usb devices. I just plugged the radio to the inbuilt usb port of my pc and it started to work.

[GideonLombardo]

The radio is plugged into the inbuilt usb port of the pc. I will see what other information I can find.

[knmcguire]

It seems to me that it is looking for a second crazyradio for some reason. I don't know the particulars of that exactly but have you tried to put those two crazyflie on the same channel?

It might be so that the crazyflie_server logic automatically puts crazyflies on the same channel in the same 'group' that uses on crazyradio to communicate with all, so since you have different channels. I couldn't find this quickly in the code itself where this happens so this is still a guess.

Just note that I have not tried it myself, but just from the general good practice that all crazyflies communicating with one crazyradio should be on the same channel.

[GideonLombardo]

This has fixed the issue. I am now able to see both CFs in RVIZ.