Drone makes unpredictable movements
Hello everyone,
I'm trying to control my drone to make it go to where a predefined pattern is. The pattern is seen by the bottom camera of my drone.
My drone is an AR Drone 2.0. It has some things preinstalled, like a takeoff and a height stabilizer that works very good. But the problem is that the drone also makes some unpredictable movements when I'm trying to control it. My Gazebo's simulation works perfectly, but when I go to the real life things don't work as expected.
Imagine that I have a pattern placed on the floor. My first problem is that when I move something below my drone it makes a movement as a response of that (for example, if I put a box from left to right, the drone makes a faster movement from left to right. I don't know why and I would like that not to happen). Another problem is that it also makes some unpredictable movements when something happens (I don't know what). For example, I have my tag placed in a side of the FOV of the camera of the quadcopter. It stats moving perfectly but then it makes like 2 steps to the left (I don't know why because I didn't send that) and the tag is lost from the FOV.
What can I do? I'm getting crazy
Thanks
Edit: I already did the flat trim before each take off
The behavior that you're describing actually makes a lot of sense (even though it is frustrating). The AR.Drone 2.0 uses its bottom camera for stabilization by estimating its speed relative to the ground (I can't remember if it's specified how or if it's proprietary). If you place something...
underneath it and move that object, the drone estimates that it is moving not the object. Therefore, it tries to compensate by moving in the opposite direction. This is frustrating and discovered this after finding a paper that Parrot put out and from lots of experience with it. My team and I...
figured out that if you place one of the tags that comes with it in the field of view of the bottom camera, then it'll be more stable (really, you just need something that it can identify as being different from the rest of the floor).
By "one of the tags that comes with it" you mean the tag that is printed in the inner side of the box of the AR Drone? Do I have to put that tag and leave it there or just show that tag once and that's it? Do you have any paper from where I can read that? Thanks :)