Crazyflie oscillates around setpoint and then diverge when using Python binding in Webots

[flyingpafnouti]

Hi,
I’m currently using Webots with the Crazyflie firmware Python binding, built following these steps:

bash

sudo apt install swig
git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git
make distclean
make cf2_defconfig
make bindings_python
cd build
python3 setup.py install --user

Everything compiles and runs fine, but in simulation the Crazyflie oscillates strongly around its position setpoint and then diverges.

I’m running Webots with the system Python interpreter (/usr/bin/python3, since I couldn’t link my virtual environment) with this controller:

https://github.com/bitcraze/crazyflie-simulation/blob/main/simulator_files/webots/controllers/crazyflie_controller_py_firmware_pid/crazyflie_controller_py_firmware_pid.py

The firmware bindings appear to load correctly (cffirmware works as expected), but the control behaviour seems totally unstable.

Has anyone run into similar oscillations when using the firmware Python bindings in Webots?

Any hints or references would be greatly appreciated!

[ArisMorgens]

Hello @flyingpafnouti!

Sorry to hear that you're facing issues with the Webots simulation. Unfortunately, since Kimberly (the main author of the crazyflie-simulation repository) left, this repository is not maintained by us.

After a quick search, the oscillations that you're observing might be related to this issue.

Let us know if you manage to figure it out.