Hello, I am using the Optitrack system at TU Delft and have some problems with flying at higher altitudes. To be more precise, when I'm flying the Bebop between 2.5-3 meters fix alt. the altitude can vary ALOT when going from one waypoint to another and the drone can also completely deviate from the flight plan and start accelerating into the net (both on the sides and in the roof). At lower altitudes 1-2 m everything is working fine. Does anyone have any idea what can cause this?
Optitrack is not a perfect system. If you fly higher, the drone is seen by less cameras which may result in difficulty with tracking. The best option you have is probably to recalibrate the arena before flying.
we’re in the process of building a Flying Arena in ENAC, (est: july 2017) with optitrack or a similar kind of system. Hopefully, we’ll end up contributing to the tracking code.
Okay, so you don't think there is anything in the flightplan/airframe that can cause this behaviour? And there's also no way (except calibration) to amend or decrease the amplitude of the problem?
When creating new messages, is there a particular section to create them in? Which message.XML file? I found 2 different ones in the PaparazziUAV install. Then, do I need to rebuild paparazzi after creating them?
and yes, you need to call the toplevel make after changing messages
if you put a messages.xml file in conf/, that will be used instead...
@flixr OK thanks
Is there a particular section in the messages.XML I want to use? I was going to use ground messages section. Do I just pich a free message number? Just to make sure.
that depends what kind of message you want to add... if you want to send something from the aircraft to the ground, add it to "telemetry", for sending to the aircraft to "datalink" and if it's only a message between ground agents - well - to "ground"
It worked and I was able to move forward with the installation
the wiki says that 0.017s is the minimum period for telemetry messages. is that also true of ground-to-aircraft messages? i would like to set a joystick update frequency in excess of 60Hz
@rambalakrishnan you should be able to increase the update rate of the joystick by changing the period parameter in your joystick file. The smallest theoretical period is 1ms, but it is probably way to much for the telemetry. 60Hz should be fine if you don't have too much downlink telemetry or enough bandwidth.