SYS: Crazyflie 2.0 is up and running!
SYS: Build 225:ff06aab1d367 (2016.09-225) MODIFIED
SYS: I am 0x353534303335510236005B and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
DECK_DRIVERS: Found 9 drivers
DECK_INFO: Found 0 deck memory.
DECK_CORE: 0 deck enumerated
EEPROM: I2C connection [OK].
AK8963: Self test [OK].
SYS: The system resumed after watchdog timeout [WARNING]
SYS: Assert failed at src/lib/FreeRTOS/portable/GCC/ARM_CM4F/port.c:263
I experience this issue after I have implemented some design and I couldn't figure it out why.
The design that I have done and implemented is as follows,
I am trying to feed position values from a webcam (opencv) to the client via zmq and make use of the api to send it to the firmware.
From the opencv site, it will always send position to the client for every 5 milliseconds.
I have enabled the Kalman filter.
However, I try to send my own flight commands to the firmware by using the available parameter framework.After doing so, the crazyflie restarts and shows the above errors.
it seems like the problem comes from the Kalman filter along with the webcam but I couldn't figure it out which part causes the problem. I have tried the following scenarios,
Receiving position data from webcam disabled, Kalman filter used => crazyflie works well
Receiving position data from webcam enabled, Complementary filter used => crazyflie works well
Receiving position data from webcam enabled, Kalman filter used => crazyflie shows error
Frequency of sending position values reduced, Kalman filter used => This error occurs less frequently, but I am not sure whether it is by luck
Could anyone help me on this issue? Thank you very much.