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I've implemented the motor control plugin in, but the crazyflie does not take off yet...

Maybe a tuning problem? Perhaps wrong assumptions on the thrust parameters or something?

hey ive been trying to test the takeoff option im using ign fortress and ubuntu 20
and i get the following error:

Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/body"]/inertial/pose[@frame=""]:crazyflie/model.sdf:L7]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/body"]/collision[@name="crazyflie/body_collision"]/pose[@frame=""]:crazyflie/model.sdf:L19]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/body"]/visual[@name="crazyflie/body_visual"]/pose[@frame=""]:crazyflie/model.sdf:L27]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m1_prop"]/pose[@frame=""]:crazyflie/model.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m1_prop"]/inertial/pose[@frame=""]:crazyflie/model.sdf:L39]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m1_prop"]/visual[@name="crazyflie/m1_visual"]/pose[@frame=""]:crazyflie/model.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m2_prop"]/pose[@frame=""]:crazyflie/model.sdf:L61]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m2_prop"]/inertial/pose[@frame=""]:crazyflie/model.sdf:L63]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m2_prop"]/visual[@name="crazyflie/m2_visual"]/pose[@frame=""]:crazyflie/model.sdf:L75]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m3_prop"]/pose[@frame=""]:crazyflie/model.sdf:L85]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m3_prop"]/inertial/pose[@frame=""]:crazyflie/model.sdf:L87]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m3_prop"]/visual[@name="crazyflie/m3_visual"]/pose[@frame=""]:crazyflie/model.sdf:L99]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m4_prop"]/pose[@frame=""]:crazyflie/model.sdf:L109]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m4_prop"]/inertial/pose[@frame=""]:crazyflie/model.sdf:L111]: XML Attribute[frame] in element[pose] not defined in SDF. Warning [Utils.cc:129] [/sdf/model[@name="crazyflie"]/link[@name="crazyflie/m4_prop"]/visual[@name="crazyflie/m4_visual"]/pose[@frame=""]:crazyflie/model.sdf:L123]: XML Attribute[frame] in element[pose] not defined in SDF. libEGL warning: DRI2: failed to create dri screen libEGL warning: DRI2: failed to create dri screen

Let's see if I can either use the python bindings of crazyswarm or the firmware build from sim_cf to control the motors directly.

Hi Kimberly,

Were you able to run your controller algorithm with the ignition gazebo?
I'm trying to write an attitude and Altitude controller using the pid algorithm with the multicopter motor model plugin. But the drone cannot hover in the air. Even if the thrust value I give increases, it starts to fall after a certain height. Do you have any idea why the drone starts to fall after it reaches a certain height even if I increase the thrust I give it?

Hi Kimberly,

Nice to hear you are working on crazyflie simulation. I am wondering if there's a plan of interaction with Airsim? I want to use Airsim to do some simulation of crazyflie. And do you know where can I find a mesh model of the crazyflie?