Problem hovering multiple crazyflies

Hi,

I’m having trouble flying multiple crazyflies (cfs) at once.

Using hover_swarm.launch I successfully got crazyflie 1 (cf1) and crazyflie7 (cf7) to hover independently. Both have approximately the same marker placement. I would place each at [0,0,0] and run hover_swarm.launch and each would hover.

Then, to get multiple cfs hovering, I made the following changes to crazyflie.yaml:

crazyflies:
- channel: 80
  id: 1
  initialPosition: [0.0, 0.5, 0.0]
- channel: 86
  id: 7
  initialPosition: [0.0, 0.0, 0.0]

I ran hover_swarm.laucnh but I got the following:

[ INFO] [1517418080.991244623]: Wait for services...
[ INFO] [1517418080.999312318]: waitForService: Service [/takeoff] has not been advertised, waiting...
[ INFO] [1517418081.018830845]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1517418081.020966378]: waitForService: Service [/takeoff] is now available.
[ INFO] [1517418081.033966664]: Manager ready.
crazyflies.size = 2
crazyflie id and channel are: 1 80
crazyflie id and channel are: 7 86
[ INFO] [1517418081.034869807]: All CFs are ready!
running runFast
Connecting to VICON... 
Connected to VICON! 
[ INFO] [1517418081.079185555]: motion capture type defined
ch: 2
radio: 1
radio: 0
libusb: warning [add_to_flying_list] failed to arm first timerfd (errno 9)

I tried uploading trajectories and pressing the start button, but nothing happened.

Am I doing something wrong?

Thank you.

note: I am using only one crazyradio.

[whoenig]

By design you need one radio per channel, because each channel/radio runs in its own thread. So either plug in a second radio, or change the channel for both CFs to 80 (or 86).

Please confirm if that fixes your problem. If so, we should add some proper error checking for that case…

[whoenig]

This issue is closed - please open a new issue.

There is no need to change the hover_swarm launch file. All you need to to is to update allCrazyflies.yaml and select the subset of CFs you are planning to use in chooser.py.