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You might get a better answer to this question in the Crazyswarm discussions but I'll give it a go. A Crazyradio can send around 800 small packets to one Crazyflie per second, if the packets are larger the rate may go down to around 400/s. |
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Hi I am writing a high level controller to control multiple drones in formation. For this I use the Crazyswarm environment and already can form desired shapes and track trajectories for a swarm of drones. I use the cmdPosition(pos, yaw=0) command, see: https://crazyswarm.readthedocs.io/en/latest/api.html
At the moment I stream setpoints in 10Hz which they claim is a conservative minimum. My question is how high I can go with this streaming frequency? Theoratically the higher the better, but is 100Hz for example realistic? Will the setpoints really be streamed with 100Hz if I code it like that, or is there a limitting factor?
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