Disabling crash detection?

Discussions about autonomous flight in general, regardless of positioning method
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JarvisX
Beginner
Posts: 4
Joined: Sat Jun 12, 2021 12:00 am

Disabling crash detection?

Post by JarvisX »

Hi, crazyfliers!

I have a quick question: is there a way to completely turn off the onboard crash detection and avoid the consequential motor shut-offs? I am using the crazyflie_ros stack with CrazyBolt. The crash detection seems to kick in whenever the robot is tilted more than a certain angle (90 degrees from nominal hover state in roll and/or pitch most likely,) and then shuts off the motors until a reset. Since we are experimenting with making a drone flipping, we need to avoid the crash detection from stopping with the motor actuation.

Best,
Jiawei
jonasdn
Expert
Posts: 132
Joined: Mon Mar 01, 2021 3:13 pm

Re: Disabling crash detection?

Post by jonasdn »

Hi JarvisX!

Disabling the supervisor check is only possibly through modifying the CF2.1 firmware, there is no way to do itby sending a message to the Crazyflie.
The check is done in the supervisor module at line 120: https://github.com/bitcraze/crazyflie-f ... sor.c#L120

So you need to moedify the firmware and then flash the result, if you are unfamiliar with the process, check out this guide: https://www.bitcraze.io/documentation/t ... velopment/

Regards
Jonas
JarvisX
Beginner
Posts: 4
Joined: Sat Jun 12, 2021 12:00 am

Re: Disabling crash detection?

Post by JarvisX »

jonasdn wrote: Mon Jun 14, 2021 4:35 am Hi JarvisX!

Disabling the supervisor check is only possibly through modifying the CF2.1 firmware, there is no way to do itby sending a message to the Crazyflie.
The check is done in the supervisor module at line 120: https://github.com/bitcraze/crazyflie-f ... sor.c#L120

So you need to moedify the firmware and then flash the result, if you are unfamiliar with the process, check out this guide: https://www.bitcraze.io/documentation/t ... velopment/

Regards
Jonas
Thank you, Jonas! I will modify the firmware.
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