Autonomous embedded flight system

Discussions about autonomous flight in general, regardless of positioning method
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Joined: Mon Jun 19, 2017 9:28 am

Autonomous embedded flight system

Post by carlos » Mon Jun 19, 2017 9:53 am


I have been working a few weeks with a Crazyflie 2.0 using the python library.
Now I'm supposed to start to develop a embedded system that runs into the CF2, without receiving orders from a computer . Everything should be autonomously running inside.
I thought that trying to do a simple take off - landing routine would be ok in order to get to grips with the firmware and so on.
The problem is that i have been analyzing the firmware for a few days and I dont even know how to set the thrust of the motors in order to take off.

I'm even starting to doubt if is possible to this without rewriting the whole firmware.

Hope you can help a desperate man


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Joined: Tue Feb 06, 2007 12:36 pm

Re: Autonomous embedded flight system

Post by arnaud » Tue Jun 27, 2017 8:53 am

Hi Carlos,

Controlling the crazyflie from within the firmware is possible and you do not need to rewrite everything, though this is not something we have done a lot (yet...)

You can look at out ICRA demo, it is running a program that runs the crazyflie completely autonomously, no computer in the loop. The autonomous part is implemented from this file: ... ace.c#L157. We talked about it on the blog, the crazyflie is controlled using simple buttons:

This is the first time we try to run things completly autonomous so there is some hack here and there but the most important is part of the official firmware: it is possible to set the setpoint from within the crazyflie with a priority setting that sets if the setpoint has more or less priority than the setpoint sent by the python lib from the ground: ... ace.c#L333

We took some videos of this demo: the base retrace code and the demo at ICRA:

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