Hardware all properly set up but lighthouse deck not being initialized

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Jadenbh12
Beginner
Posts: 7
Joined: Sat Jun 12, 2021 5:20 pm

Hardware all properly set up but lighthouse deck not being initialized

Post by Jadenbh12 »

There's a pretty big issue that I'm having and I'm wondering if you could help me through it. I've set up the crazyflie exactly the way it dictated in the instructions, now I'm trying to flash the firmware using cfclient. But whenever I do so I get the error message:

WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)

in the terminal. In the console for cfclient, it also keeps repeating the message:

ESTKALMAN: State out of bounds, resetting

And this one when I try to flash firmware:
LHFL: No Lighthouse support in FW, deck not initialized

I'm not sure if I've done something wrong but I'd love it if I could get some support on this. I've checked dozens of forums and FAQ pages and none of them address this issue. I'm working on a dell xps 13 running ubuntu 20.04
jonasdn
Expert
Posts: 132
Joined: Mon Mar 01, 2021 3:13 pm

Re: Hardware all properly set up but loco deck not being initialized

Post by jonasdn »

Hi Jadenbh12!

Just to clarify: Is it a Loco positioning deck or a Lighthouse deck you have?

I do not thing the QList errors are relevant to this problem, but I could be wrong, the error message:

What are your procecdure when trying to flash a new firmware? Are you able to flash at all? Any progress indication from the cfclient?

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LHFL: No Lighthouse support in FW, deck not initialized
indicates that you have an older firmware that cannot flash the Lighthouse deck. What firmware are you trying to flash?

All the best
Jonas
Jadenbh12
Beginner
Posts: 7
Joined: Sat Jun 12, 2021 5:20 pm

Re: Hardware all properly set up but loco deck not being initialized

Post by Jadenbh12 »

Hey Jonas, thanks for responding.

I’m using a lighthouse deck. When I try to flash the latest version of the firmware with cfclient(installed through python) what happens is that it says “connected in firmware mode” on the boot loader dialog. Then when I try to upload, it simply says “flashing” for a second while not showing any progress on the bar before saying not connected and giving me the above console messages. I’m trying to do what’s shown in this tutorial:

https://m.youtube.com/watch?v=DCEHht72B08

And haven’t changed anything about the process, but for some reason I’m getting this error. If you could help that would be much appreciated. I just got the drone a few days ago and if I do have an older firmware, I’m not sure how to change it.
kimberly
Bitcraze
Posts: 1050
Joined: Fri Jul 06, 2018 11:13 am

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by kimberly »

Could you please paste the full content of your console tab in this forum thread? The one that includes the Lighthouse deck error message but then all of the print-outs

Also could you give us the output of the following in a terminal:

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pip3 show cfclient
pip3 show cflib
Jadenbh12
Beginner
Posts: 7
Joined: Sat Jun 12, 2021 5:20 pm

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by Jadenbh12 »

Here’s what I get when I do that first command:
Name: cfclient
Version: 2021.4.post13+f25f72d
Summary: Bitcraze Cazyflie quadcopter client
Home-page: http://www.bitcraze.io
Author: Bitcraze team
Author-email: contact@bitcraze.se
License: UNKNOWN
Location: /home/jaden/crazyflie-clients-python/src
Requires: PyYAML, appdirs, cflib, numpy, pyqt5, pyqtgraph, pyserial, pyzmq, qtm, quamash, vispy
Required-by:

And here’s the output for the second:

Name: cflib
Version: 0.1.15
Summary: Crazyflie python driver
Home-page: https://github.com/bitcraze/crazyflie-lib-python
Author: Bitcraze and contributors
Author-email: contact@bitcraze.io
License: GPLv3
Location: /home/jaden/.local/lib/python3.8/site-packages
Requires: pyusb, opencv-python-headless
Required-by: cfclient

Though I have all of these required libraries installed so J really don’t understand what’s going wrong.
kimberly
Bitcraze
Posts: 1050
Joined: Fri Jul 06, 2018 11:13 am

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by kimberly »

I see that you don't have the clean version of the latest release of the cfclient. So just to be sure, do the following:

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pip3 uninstall cflib cfclient
then do

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pip3 install cfclient
The latter should also install the right version of cflib as well.

Moreover, in my last post I also asked for the full console tab output. Go to view/tabs/ and check 'console tab'. Then actually click on the console tab and copy/paste the full content here in a post after connecting it with your Crazyflie and LH deck.
Jadenbh12
Beginner
Posts: 7
Joined: Sat Jun 12, 2021 5:20 pm

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by Jadenbh12 »

SYS: Production release 2021.03
SYS: I am 0x203037435753501700340056 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 1 deck(s) found
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 0
IMU: BMI088: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushed motor driver
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
STAB: Wait for sensor calibration...
SYS: Free heap: 19248 bytes
LHFL: Lighthouse bootloader version: 2
LHFL: Bitstream CRC32: BBA80734 [FAIL]
LHFL: The deck bitstream does not match the required bitstream.
LHFL: We require lighthouse bitstream of size 104093 and CRC32 112BC794.
LHFL: Leaving the deck in bootloader mode ...
LH: FPGA not booted. Lighthouse disabled!
STAB: Ready to fly.
ESTKALMAN: State out of bounds, resetting
kimberly
Bitcraze
Posts: 1050
Joined: Fri Jul 06, 2018 11:13 am

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by kimberly »

So these lines is important:

Code: Select all

LHFL: Bitstream CRC32: BBA80734 [FAIL]
LHFL: The deck bitstream does not match the required bitstream.
LHFL: We require lighthouse bitstream of size 104093 and CRC32 112BC794.
This means that the lighthouse deck does not have the right firmware flashed that the crazyflie firmware required.

Please follow the steps of the firmware upgrade carefully with the lighthouse deck attached

Be sure to be careful to do the following:
- After the STM and NRF has been reflashed (Firmware (1/2) and Firmware (2/2), the crazyflie will restart
- you will see on the bottom the notice 'Status: Detected deck to be updated', with the process bar running.
- Make sure to not touch the crazyflie in this process but just wait until it's finished (as it can take up to 30 seconds).
- Then the crazyflie will restart again and the status will show 'IDLE'

After that, connect to the crazyflie again and check the console tab again. You should see now something like:

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LHFL: Bitstream CRC32: 112BC794 [PASS]
LHFL: Firmware version 6 verified, booting deck!
Jadenbh12
Beginner
Posts: 7
Joined: Sat Jun 12, 2021 5:20 pm

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by Jadenbh12 »

Yes I’m trying to do that, but every time I attempt to flash the firmware exactly as shown in the video it says “flashing” for a second before disconnecting from the drone but still allowing me to see the attitude indicator. The full error is available above, I’m not sure what I’ve done wrong but flashing the firmware isn’t working the way you said.
kimberly
Bitcraze
Posts: 1050
Joined: Fri Jul 06, 2018 11:13 am

Re: Hardware all properly set up but lighthouse deck not being initialized

Post by kimberly »

I am able to recreate exactly your problem as you are describing it. But it only happens for me if I install cfclient from source (directly from the git repositor). If the latest master version of the cfclient (bleeding edge) without installing the cflib from the latest master version too, then there might be bugs like this.

So to make absolutely sure that the cfclient and cflib are on latest release and not on latest master, do this:

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pip3 uninstall cflib cfclient
pip3 install cfclient
you can double check that with

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pip3 show cfclient cflib
Which should show this:

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Name: cfclient
Version: 2021.4
Summary: Bitcraze Cazyflie quadcopter client
Home-page: http://www.bitcraze.io
Author: Bitcraze team
Author-email: contact@bitcraze.se
License: UNKNOWN
Location: c:\users\kimbe\appdata\local\programs\python\python39\lib\site-packages
Requires: pysdl2, pysdl2-dll, pyqt5, cflib, appdirs, pyzmq, pyqtgraph, PyYAML, quamash, qtm, numpy, vispy, pyserial
Required-by:
---
Name: cflib
Version: 0.1.15
Summary: Crazyflie python driver
Home-page: https://github.com/bitcraze/crazyflie-lib-python
Author: Bitcraze and contributors
Author-email: contact@bitcraze.io
License: GPLv3
Location: c:\users\kimbe\appdata\local\programs\python\python39\lib\site-packages
Requires: opencv-python-headless, pyusb
Required-by: cfclient
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