Dimitrios Chaikalis

Hmm you mean make sure the vicon data are aligned with the Body frame as seen in " https://www.bitcraze.io/2020/01/state-estimation-to-be-or-not-to-be/ "? I will have to check that for sure Isn't the...

Yes, that was the issue, I hadn't aligned the object's orientation in Vicon with the Crazyflie's IMU. However, now that I've got it all to work, I'm conflicted about something....

Oh and another thing. Would you say that sending "cmd_vel" messages using this package (i.e. crazyflie_ros) corresponds to the same thing as sending RPYThrust setpoints using the cf_commander of the...

Thanks, I know there is no method for PWM, but I should be able to add a port and type in the firmware to take advantage of the motorSetRatio firmware...

Can you share any of your code? There could be a lot of different issues causing unstable flight. What are the Ax, Ay on your A matrix? How are you...

Okay first of all I'm not very familiar with python, so if the errors are stemming from python implementation mistakes e.g. the optimization solver, matrix operations being executed correctly, or...

I will try not to confuse you here. Just know that the attitude dynamics state space representation seen in the arxiv paper you are using, is derived by linearizing ,...

Good point, I made sure to change the joint names such that they stay the same, but not the links. So the frames in this will be of different convention,...

I understand. I leave this up to you guys entirely, I mostly made this because I wanted to see if other people had issues with this urdf for the arm,...

Will check, though it might be next week, due to travelling for IROS