Bitcraze Forums

Hi Tobias, I apologize for the late reply. I just had a chance to thoroughly test the code. Firmware : We are using customized firmware where we replace the crtp_localization_service.c with crtp_broadcast_service.c to receive and route packets from boradcast address. You can find code here, https://...

Hi Toblas, Thanks for your suggestions. I've found the problem. It got stuck at the infinite loop where it checks whether the DMA stream for uart6 is disabled thus ready for next transfer, https://github.com/bitcraze/crazyflie-firmware/blob/master/src/drivers/src/uart_syslink.c#L248. In Debug mode, ...

Thanks Tobias and Arnaud! I'm Philip's colleague. We're still working on the problem. I've tried to let crazyflie print in the console. Unfortunately, nothing was there. We've been trying to use a ST-Vlink to debug but we are not expert on it. So I'm wondering, 1) with the debugger, Is it possible t...

Hi Arnaud,

Problem is solved. It turns out that I'm not using the latest nrf firmware. Thanks for your clarification!

Thanks!

Hi, I'm integrating Syson/Sysoff/rebootToBootloader function into crazyflie_server.cpp. These functions work only when crazyflie is on. It seems that the packets cannot be received when it's off.It doesn't make sense. I thought the nrf chip is on at all time and it should receive the packets. Beside...

Hi Arnaud, Thanks for your reply. It turns out to be my faulty implementation that unregister the log block. The issue is solved. However, I still have questions regarding sending pings. You are correct. I'm sending empty packets to bring back log data. However, what I found is that broadcast heavil...

Hi Arnaud, Thanks for your reply! I did have a weird problem. If I disable the ping in CrazyROS and call the sendping method of a CrazyflieROS instance, the log doesn't work. It seems that the send ping have to be sent immediately after sending the log request to CF. FYI, I found this issue with bot...

Hi, I'm trying to integrate current crazyflie_server with the one from USC lab to support broadcast in current ros architecture. However, I had some issues connecting to the drone. The new structure of creazyflie_server is similar to Crazyswarm project. As far as this issue concerns, I moved the sen...

Hi, Thanks for your reply. I will keep you updated if we got any results I've been working with bitcraze's implementation of TDoA. There are two other things really concerned me. 1) Clock corrections have really large variance. It can range from 10^-34 to 10^36 for one pair of anchor. Why it could p...

Our team has been experimenting with TDoA. What I observed is consistent with this paper http://mikehamer.info/assets/papers/Ledergerber,%20Hamer,%20DAndrea%20-%20IROS%202015.pdf. For the square trajectory, we have 0.18m RMSE (root mean square error). Z-direction is better than that in paper, 30cm o...