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I spend last month improving the portability of crazyflie-firmware, here is my project: https://github.com/Leonana69/POD-Firmware The idea is to use STM32CubeMX to generate the initialization codes, and I tried to make the least changes to those generated files and keep all hardware-related configur...

Hi, I'm curious about the schematic design of cf bolt. It seems the STM_SWIO and STM_SWCLK are not connected with the NRF, then how the NRF flash the firmware for STM32?

Hi! Just to make your post a bit more clear: When you try to flash the NRF, are you using the debug adapter right? You are not trying to flash the NRF through the white connector that is already connected to the Crazyflie? And are you using an stlink or another debugger? Yes, I flashed the NRF thro...

After I tried to flash the NRF chip, I can't connect to the drone anymore. Here is what I get when trying to flash the NRF. make flash openocd -d2 -f interface/stlink-v2-1.cfg -f target/nrf51.cfg -c init -c targets -c "reset halt" \ -c "flash write_image erase cf2_nrf.hex" -c &qu...

I see that in the cf bolt schematic, the STM_SWIO and STM_SWCLK are not connecting to the NRF51822, so how can the RF chip upload the firmware?

Hi, I'd like to know the specific type of X3 16MHz oscillator. It seems to need power, but two terminals are connected to GND.

@leonana69 may you share your pid and thrust base values so I can compare to the crazyflie and make the right decision for my new quad? The thrustBase is 32000 and thrustMin is 20000. For height control PID, the PID_Z_RATE_KP/KI/KD are 7.0/2.0/0.3, the PID_K_KP/KI/KD are 10.0/2.0/1.0. I didn't chan...

The reason for that is that it might be possible to build a very small and powerful quadrotor using the Bolt. Then the latency between the sensor readings and motor output will be more important. The SPI has lower latency and therefore this was chosen. It adds some possible compatibility issues tho...

I wonder is there any reason for changing I2C to SPI DMA way of reading sensors data in cf bolt?

Very nicely done! Did you also get the flow deck to work OK? I think there are some parameters that needs to be changed/tuned to compensate for the different inertia, weight and thrust. Yes, I re-tuned the PID controller, changed the thrustBase in the position_controller_pid.c to match the current ...