Other input method by using the Phone acceleration sensor about crazyflie-android-client HOT 8 CLOSED

Hi, first of all thanks for your comments. I know it's more a case study as a feature implementation until now.
I totally agree with you Arnaud roll/pitch and yaw should both controlled by the sensor because split controlling (yaw by the joystick) is not so intuitively and not ergonomically.
I'm not sure if it's possible to reduce the delay because the sensor polling is already set to max update rate.
However, in my opinion it's a good way to control the CF for beginners, in the future!
Because the feedback is naturally, if the response is with min delay.
I will take a look on the yaw controlling in one of the custom CF FW. I think some work with the gyro is already done there and i would include a parameter 0-360° Yaw to sync the yaw in the CF FW.
And yes the orientation of the Android Device could be set to zero at lift off for better handling.

Original Comment By: Sascha Heymann

from crazyflie-android-client.

Agreed, with the yaw controlled by the joystick it already permits to get a good feeling of the sensor control. One thing that could be nice is if the 0 of pitch/roll would be taken when the thrust starts to be operated. That would allow to use it with the phone inclined and to always take-off flat.

Original Comment By: Arnaud Taffanel

from crazyflie-android-client.

I'd did some tests with the sensors as well, but wasn't completely satisfied yet. Still needs more testing. I think we should concentrate on roll and pitch first and add yaw later.

Original Comment By: @fredg02

from crazyflie-android-client.

I tested further and the pitch-roll is actually working fine but I still get problems with the Yaw that quickly starts to drift a lot.

The version with Yaw on the phone is impossible to get used to :-). If the CF yaw would be sync with the phone that could be really great! but that would certainly require an absolute control of the yaw in the Crazyflie, we have to think about adding that to the firmware ....

Original Comment By: Arnaud Taffanel

from crazyflie-android-client.

I tested with Nexus 7 and GalaxyNexus and I have some dificulty flying: the yaw is not stable at all and the pitch/roll seems delayed. I tested the roll/pitch version. I will investigate and test more later today.

Original Comment By: Arnaud Taffanel

from crazyflie-android-client.

I have tried some things and there are my impressions:

• to control the CF by phone motion sensor for roll and pitch works great (download roll/pitch APK)
• I also add that the yaw motion of the phone control the yaw of the CF (donload APK with YAW feature, DEV!)
• The yaw feature is very tricky and at the moment not 100% safe, but this way to fly the CF is really awesome. After a couple of minutes it is so naturally to control the CF, that you forget that you controlling it. And one hand control is also possible!
• In mode 1 the left (yaw) screen pad can be used to set a yaw offset correction during flight because with the yaw feature the movement (yaw) of the user is a problem. The yaw offset is also set to zero every lift off.
• Thrust controlling by motion is in my opinion to hard to do and not useful. The problems are oscillation, noise of the height of the phone, counter for thrust up+/down- (accelerometer)
• TODO: Change yaw sensor from "TYPE_ORIENTATION" (0-360°) to "TYPE_LINEAR_ACCELERATION" with a counter left-/right+
• TODO: use the CF gyro sensor to sync it with the phone orientation (yaw).

RFC I'm happy for some comments :)
Happy testing!

DISCLAIMER: (http://wiki.bitcraze.se/projects:crazyflie:safety)

Original Comment By: Sascha Heymann

from crazyflie-android-client.

I'm working on that feature! And there is a first running version in my repo (see here).
If you chose (fly) Mode 1 than it is possible to control roll and pitch of the CF with the phone motion sensors. Thrust and yaw via onscreen joysticks. Zero level for roll/pitch is screen facing up.
BTW: I'm really impressed how fast the response is and almost without latency. Much more controllable than with the onscreen Pads.

Original Comment By: Sascha Heymann

from crazyflie-android-client.

Roll and pitch control through gyroscope sensors has been implemented in release playstore0.1 . Thanks to @pappz for his pull request.
Useful yaw control would be quite difficult to implement and should be handled in a separate issue.

from crazyflie-android-client.