Search found 15 matches

by asr
Mon Aug 03, 2020 5:48 am
Forum: Developer Discussions
Topic: Disabling deck in firmware
Replies: 1
Views: 21

Disabling deck in firmware

I'm trying to disable the flow deck v2 in the firmware, instead of physically removing it from the Crazyflie (it doesn't seem to want to come off, and I don't want to accidentally break it), and was wondering what the best approach to doing this would be. What I did try was to simply comment out the...
by asr
Sun Aug 02, 2020 11:09 pm
Forum: Developer Discussions
Topic: On-board velocity estimation using only gyro and accelerometer
Replies: 1
Views: 18

On-board velocity estimation using only gyro and accelerometer

I noticed that the stateEstimator() function in stabilizer.c is able to output x,y,z linear velocity estimates, and was wondering how accurate or noisy such estimates are. I had always thought that trying to use accelerometer data to estimate velocities, even when using an accurate dynamic model in ...
by asr
Sun Aug 02, 2020 10:41 pm
Forum: Developer Discussions
Topic: Crazyflie 2 body frame of reference
Replies: 2
Views: 75

Re: Crazyflie 2 body frame of reference

Thanks Kimberly, this clears up a lot of things!
by asr
Wed Jul 29, 2020 5:41 am
Forum: Developer Discussions
Topic: Crazyflie 2 body frame of reference
Replies: 2
Views: 75

Crazyflie 2 body frame of reference

I had assumed that the Crazyflie's body frame followed a standard right-hand rule coordinate system, with the positive x-axis pointing forward along the CF's longitudinal axis, the y-axis pointing left along the CF's lateral axis, and the z-axis pointing up, similar to the image below: cf_body_frame...
by asr
Sun Jul 26, 2020 6:34 pm
Forum: Developer Discussions
Topic: Writing custom on-board controller in firmware
Replies: 5
Views: 539

Re: Writing custom on-board controller in firmware

Thanks Kimberly, appreciate the detailed explanations. I had some more time to work on the on-board controller this weekend, and since I'll be using a gamepad to control the Crazyflie via the cfclient I wanted to ask if you know which parts of the firmware deal with taking the gamepad's inputs, and ...
by asr
Sun Jul 19, 2020 3:47 am
Forum: Support
Topic: Preventing props from coming off during flight
Replies: 2
Views: 106

Preventing props from coming off during flight

I recently bought a gamepad and am now able to use the Crazyflie's altitude-keeping functionality which is great. However, almost every flight ends up with a prop coming off during flight, which is hugely frustrating, especially since I'm not doing any aggressive maneuvers, and am simply flying arou...
by asr
Mon Jul 13, 2020 1:59 am
Forum: Support
Topic: Crazyflie not charging
Replies: 9
Views: 533

Re: Crazyflie not charging

Thanks Tobias, I got some time to mess with the Crazyflie this weekend and flashed the new firmware, and the charging issue has gone away. Regarding the propeller replacement program, that'd be great. Also, a bit off topic, but are there any plans of having the addon decks disabled while charging to...
by asr
Sun Jul 05, 2020 11:24 pm
Forum: Developer Discussions
Topic: Writing custom on-board controller in firmware
Replies: 5
Views: 539

Re: Writing custom on-board controller in firmware

Thanks for those links Kimberly, very useful. The INDI controller, and similarly the Mellinger controller, look like they use the same control output format as the default PID controller, where their output is given by control->thrust , control->roll , control->pitch , and control->yaw , which is th...
by asr
Sun Jul 05, 2020 9:31 pm
Forum: Developer Discussions
Topic: Use of BLAS, LAPACK, ATLAS in Crazyflie Firmware?
Replies: 1
Views: 300

Use of BLAS, LAPACK, ATLAS in Crazyflie Firmware?

I've been looking at the Crazyflie firmware (https://github.com/bitcraze/crazyflie-firmware) and noticed that there doesn't seem to be a way to deal with matrix/vector operations beyond 3 dimensions (most of the matrix/vector operations seem to be contained in math3d.h). As such I wanted to ask why ...
by asr
Sun Jun 14, 2020 5:39 pm
Forum: Support
Topic: Crazyflie not charging
Replies: 9
Views: 533

Re: Crazyflie not charging

That's great to hear, so this isn't necessarily a faulty sensor on my Crazyflie? I'll flash the new firmware and give it a go in the next few days. And thanks for the link to the propeller issue, the image of the break is unfortunately looking very similar to what's happening to some of my propellers.