Communication between MATLAB and Crazyflie

I want to send commands from MATLAB/Simulink to Crazyflieb 2.0. How can I do it?

Answer 1

[Anagha Mittal]

Hi,

For MATLAB and Simulink to communicae with Crazyflie, it is important that you have the UAV Toolbox installed which is required for MAVLink support.

To start understanding the simulation environment and way to configure your model, you may download the MATLAB File Exchange example "Crazyflie Quadcopter Simulation Using Simmechanics" from the following link:

https://www.mathworks.com/matlabcentral/fileexchange/65469-crazyflie-quadcopter-simulation-using-simmechanics

This has an example MATLAB file by the name "Crazyflie_Param". You may set the parameters similarly.

Next, to communicate you may setup MAVLink Connection by using the "mavlinkio" function. Refer to the following documentation link for more details on MAVLink Support:

https://www.mathworks.com/help/uav/mavlink-support.html

This will help you in setting up the environment.

Hope this helps!

Answer 2

[Mourya T]

I am planning on using ros toolbox and crazyswarm, so then publishing directly on cmdFullStateMsg would work, where the trajectory planning or other pipeline can be implemented in matlab for testing.

cmdFullStateMsg = rosmessage("crazyflie_driver/FullState"); 

I found another thread related to sending rosmessage to crazyflie as below,

https://www.mathworks.com/support/search.html/answers/660433-populating-ros-messages-is-slow.html?fq%5B%5D=asset_type_name:answer&fq%5B%5D=category:ros/ros2-in-matlab&page=1

Hope this helps.