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I do not think angular acceleration is something we estimate in the Crazyflie: the gyroscope gives us a reading in angular velocity. So you will need to estimate it yourself either on the ground or on the Crazyflie.

The bluetooth link is just a tunnel to regulat CRTP packets: the nRF51 will receive the bluetooth packet and transmit its data as CRTP packet to the STM32. The STM32 is not aware of the protocol used to communicate the packet, it only receive and send CRTP packets to the nRF51. The ble protocol is d...

The first error ("Error no LogEntry to handle id=") is not a problem, it is caused by existing log block from a previous connection still sending data. One of the first thing the lib is doing when connecting a Crazyflie is to clear the existing log blocks. The second error is caused by you creating ...

No, the lps25h is not used in TDoA ranging mode, the pressure is transmited in the TWR messages but has not been used in the Crazyflie so far.

Depending of what packet you are sending they are decoded in different places. If you are sending an rpyt packet it is decoded and put in the structure in crtp_commander_rpyt.c. Note that for yaw at least the value will be in setpoint.attitudeRate.yaw and the thrust is between 0 an 65535.

Crazyflie firmware is for CF2 (it does not support CF1 anymore) and yes, one of the first thing to do when you assemble your Crazylfie is to update the firmware . Great that the problem is solved!

This is too much shacking indeed, at most you should get some millimeters. It seems like you are not using the flow functionality at all. Have you tried any of the example I sent the link to? For reference, the following script addapted from https://github.com/bitcraze/crazyflie-lib-python/blob/mast...

This is implemented there: https://github.com/bitcraze/crazyflie-f ... #L135-L141. If you comment this code out, it should disable the behavior.

Hi Jess, I know that you are not using the client, but using a working client to observe a working behavior can only help :). It is correct that if a variable is in the TOC, it is for sure accessible via the log subsystem. Do you get any error code from the Crazyflie as an answer of the command crea...

I am not entirely sure I understand your question but I guess what you are after is the stabilizer look? The commander will fill-up a setpoint structure and this structure is made available to the stabilizer loop so that the setpoint can be passed to the controller: https://github.com/bitcraze/crazy...