[SOLVED] crazyflie artificial horizon/throttle not responding

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mrmks
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Posts: 13
Joined: Fri Jun 03, 2016 7:08 pm

[SOLVED] crazyflie artificial horizon/throttle not responding

Post by mrmks »

Hi,

What am I doing wrong?
I have 2 crazyflies (CF2.0) flashed with 2016.09 zip files. Both pass self check and spin props but that's it.
I can connect to them with cfclient, but moving throttle input doesn't do anything. Also, artificial horizon doesn't update.

also python -m examples.ramp show this but doesn't spin props:
Scanning interfaces for Crazyflies...
Crazyflies found:
radio://0/80/2M
Connecting to radio://0/80/2M

python -m examples.basicparam seems to get all the parameters ok.

Here is cfclient console:
---
SYS: Crazyflie 2.0 is up and running!
SYS: Build 0:83c188aa9f51 (2016.09) MODIFIED
SYS: I am 0x30323536313551104A002A and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
IMU: MPU9250 I2C connection [OK].
IMU: AK8963 I2C connection [OK].
IMU: LPS25H I2C connection [OK].
DECK_DRIVERS: Found 7 drivers
DECK_INFO: Found 0 deck memory.
DECK_CORE: 0 deck enumerated
EEPROM: I2C connection [OK].
AK8963: Self test [OK].
SYS: Free heap: 12840 bytes

And here is console log for cfclient:
$ bin/cfclient
INFO:cfclient.gui:Disabling STL printouts
INFO:cfclient.utils.input.inputreaders:Found readers: ['linuxjsdev', 'pysdl2']
INFO:cfclient.utils.input.inputreaders:Successfully initialized [linuxjsdev]
INFO:cfclient.utils.input.inputreaders:Could not initialize [pysdl2]: No SDL2 support on Linux
INFO:cfclient.utils.input.inputinterfaces:Found interfaces: ['leapmotion', 'wiimote', 'zmqpull']
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [leapmotion]: Leap Motion library probably not installed (No module named 'leapsdk')
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [wiimote]: Missing cwiid (wiimote) driver No module named 'cwiid'
INFO:cfclient.utils.config:Dist config read from /home/miles/projects/crazyflie-clients-python/src/cfclient/configs/config.json
INFO:cfclient.utils.config:Config file read from [/home/miles/.config/cfclient/config.json]
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [zmqpull]: ZMQ input disabled in config file
INFO:cfclient.utils.zmq_param:Biding ZMQ for parameters at tcp://*:1213
INFO:cfclient.utils.zmq_led_driver:Biding ZMQ for LED driverat tcp://*:1214
INFO:cfclient.utils.input:Using device blacklist [(VirtualBox|VMware)]
INFO:cflib.crtp.radiodriver:v0.53 dongle with serial N/A found
INFO:cfclient.utils.input:Selected MUX: Normal
INFO:cfclient.ui.main:Role of Sony Computer Entertainment Wireless Controller is Device
INFO:cfclient.utils.input.mux:Adding device Sony Computer Entertainment Wireless Controller to MUX Normal
INFO:cflib.drivers.cfusb:Looking for devices....
INFO:cflib.crazyflie:Callback->Connection initialized[radio://0/80/2M]
INFO:cflib.crazyflie:We are connected[radio://0/80/2M], request connection setup
INFO:root:Has safelink: True
INFO:cflib.crazyflie:Resending for pattern (93, 5)
INFO:cflib.crazyflie:Resending for pattern (93, 5)
INFO:cflib.crazyflie:Resending for pattern (93, 5)
INFO:cflib.crazyflie:Callback->Connected to [radio://0/80/2M]
INFO:cflib.crazyflie.toc:TOC for port [5] found in cache
INFO:cflib.crazyflie:Log TOC finished updating
INFO:cflib.crazyflie.mem:Requesting number of memories
INFO:cflib.crazyflie.mem:2 memories found
INFO:cflib.crazyflie.mem:Requesting first id
INFO:cflib.crazyflie.mem:Requesting information about memory 1
INFO:cflib.crazyflie.mem:Memory: id=1, type=LED driver, size=24
INFO:cflib.crazyflie.mem:Done getting all the memories, start reading the OWs
INFO:cflib.crazyflie:Memories finished updating
INFO:cflib.crazyflie.toc:TOC for port [2] found in cache
INFO:cflib.crazyflie:Param TOC finished updating
INFO:cflib.crazyflie:Callback->Connection setup finished [radio://0/80/2M]
INFO:cfclient.utils.logconfigreader:Parsing [stabilizer.json]
INFO:cfclient.utils.logconfigreader:Parsing [Mag_pure.json]
INFO:cflib.crazyflie.mem:Writing new chunk of 24bytes at 0x0
INFO:cflib.crazyflie.mem:Updating content of memory 0
INFO:cflib.crazyflie.mem:Requesting new chunk of 16bytes at 0x0
INFO:cflib.crazyflie.mem:WRITE: Mem=1, addr=0x0, status=0x0
INFO:cflib.crazyflie.mem:This write request is done
INFO:cflib.crazyflie.mem:Write to LED driver done
INFO:cfclient.ui.main:LED write done callback
INFO:cflib.crazyflie.mem:READ: Mem=0, addr=0x0, status=0x0, data=(48, 120, 66, 67, 1, 80, 2, 0, 0, 0, 0, 0, 0, 0, 0, 231)
INFO:cflib.crazyflie.mem:READING: We are still interested in request for mem 0
INFO:cflib.crazyflie.mem:Got new data: bytearray(b'0xBC\x01P\x02\x00\x00\x00\x00\x00\x00\x00\x00\xe7')
INFO:cflib.crazyflie.mem:Requesting new chunk of 5bytes at 0x10
INFO:cfclient.ui.tabs.LEDTab:Memory: id=1, type=LED driver, size=24
INFO:cflib.crazyflie.log:Have successfully started logging for id=3
INFO:cflib.crazyflie.mem:READ: Mem=0, addr=0x10, status=0x0, data=(231, 231, 231, 231, 3)
INFO:cflib.crazyflie.mem:READING: We are still interested in request for mem 0
INFO:cflib.crazyflie.mem:{'radio_address': 996028180455, 'version': 1, 'pitch_trim': 0.0, 'radio_speed': 2, 'radio_channel': 80, 'roll_trim': 0.0}
INFO:cflib.crazyflie.log:Have successfully started logging for id=4
INFO:cflib.crazyflie.log:Have successfully started logging for id=5
INFO:cflib.crazyflie.log:Have successfully started logging for id=6
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.HMC5883L]: 1
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.MS5611]: 1
INFO:cflib.crazyflie.log:Have successfully started logging for id=7
INFO:cflib.crazyflie.log:Have successfully started logging for id=8
INFO:cfclient.ui.tabs.FlightTab:Changed effect to 0
Last edited by mrmks on Tue Sep 13, 2016 6:33 pm, edited 1 time in total.
tobias
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Posts: 2339
Joined: Mon Jan 28, 2013 7:17 pm
Location: Sweden

Re: crazyflie artificial horizon/throttle not responding

Post by tobias »

The calibration routine is a bit more strict to get better values. My guess is that the sensors hasn't calibrated because the CF2 is not put on a stable enough surface? Please check the red M1 LED when powering up. It should switch to faster blinking rate (from 1Hz to 2Hz) when calibrated.
mrmks
Beginner
Posts: 13
Joined: Fri Jun 03, 2016 7:08 pm

Re: crazyflie artificial horizon/throttle not responding

Post by mrmks »

Thank you, as you said, the red led was blinking at 2 Hz, not 0.5 Hz. Moving to a stable flat surface for calibration solved my problem of motors not responding. :oops:
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