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In CrazyS you can simulate as many vehicles as you want. A swarm example is already available However, CrazyS does not take into account the latest Crazyflie's firmware release (it still remains with the 2018 edition, i.e., 2018.01.01). Also, it is necessary to implement the position controller, i.e., the controller that generates the propeller angular velocity signals from the waypoint references (x, y, and z position coordinates and yaw angle) to move the quadrotor to this point.
If you take a look at Wiki, Stefano Grossi already addressed this point. He has implemented a nice extension of Lee's geometric controller for CrazyS (it's available at link). However, I haven't had time to implement his code yet. If you could help with that, it would be appreciated. You could start with my pull request. It is a good point, but it needs to be tested and tuned.
from crazys.
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from crazys.