Bitcraze Forums

Some Crazyflie users are using a motion capture system with a single marker. In this mode we get an accurate position measurement but no attitude (like GPS). If we hover in one place, the yaw estimate drifts over time due to gyro error. The only way to avoid this is by moving the Crazyflie around, w...

I "let the smoke out" of a Crazyflie today :( :( . I am using the Crazyflie 2.0 as flight controller in my hexarotor build. I power it over VUSB from the power distribution board. I was getting sloppy at end of day, and put the Crazyflie in upside down, so GND and VUSB were swapped. Now my...

I implemented the separate task approach using a one-element queue. It works, but introduces some timing jitter of around 200 usec. However the input PWM frequency of my ESCs is only 400Hz (2500 usec period), so I don't think the effect of the jitter will be significant. I will wait until flight tes...

By the way, my data payload is a single 24-byte write. According to my calculations, at 400kHz this should take about 580 uSec, which agrees with what I see on my oscilloscope. The pca9685 supports 1MHz "fast mode plus" i2c. EDIT: some others in the STM series do too , but apparently the s...

Hi all, based on my discussion with arnaud , I got an Adafruit I2C 16-channel PWM deck so I can use the Crazyflie as a flight controller for a hexarotor. I am now getting the board up and running. Unfortunately, it takes a long time to transfer the I2C commands for 6 motors over I2C: about 500 usec ...

OK, that makes sense about the long wires and data integrity. Getting an 0xFF instead of an 0x00 would be really bad when controlling motors :shock:. But the header pin connection from the Crazyflie to the Adafruit board should be OK, right? In my code, should I be using the interface provided by i2...

You might also try increasing STABILIZER_TASK_STACKSIZE in src/config/config.h. I haven't used Mike's controller, but I assume it's more complex than the default and thus might use more stack.

That I2C PWM solution looks cool... I ordered one, I will try it out. I do think it's kind of funny how we go from the flight controller, to PWM, and then the ESC digitizes the signal again in its firmware... I guess it's a relic of R/C airplane heritage? I have Afro ESCs that also accept I2C input,...

I'm wondering how difficult it would be to extend the BigQuad deck design to support six motors? I have no PCB design experience, but would this be a project suitable for an undergrad over one semester? I like hacking the CF firmware, I'm trying to avoid using pixhawk

I would like to log 500hz IMU data + internal controller states during flight. The Crazyradio doesn't have enough bandwidth for this task. I am considering making a long 6-connector cable out of very lightweight wire so we can log to a JTAG debugger during flight. Tethers are fairly common in resear...