I have managed to build a custom drone using Crazyflie mounted with the BigQuad Deck, Loco Positioning Deck, and Z-Ranger v2 Deck.
Using the instructions in
https://wiki.bitcraze.io/projects:crazy ... ow_v2_deck
and
https://wiki.bitcraze.io/projects:crazy ... g_firmware,
My config.mk
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## Enable biq quad deck features
CFLAGS += -DENABLE_BQ_DECK
CFLAGS += -DBQ_DECK_ENABLE_OSD
Console Message OK
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SYS: ----------------------------
SYS: Crazyflie 2.0 is up and running!
SYS: Build 48:ebf447ee94f5 (2019.02 +48) MODIFIED
SYS: I am 0x30343631303747130023002F and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 2 deck(s) found
DECK_CORE: Calling INIT on driver bcBigQuad for deck 0
BIGQUAD: Switching to brushless.
DECK_CORE: Calling INIT on driver bcDWM1000 for deck 1
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
PLATFORM: Low interference mode. NRF51 TX power offset by -12db.
EEPROM: I2C connection [OK].
AK8963: Self test [OK].
DECK_CORE: Deck 0 test [OK].
DECK_CORE: Deck 1 test [OK].
STAB: Wait for sensor calibration...
SYS: Free heap: 10560 bytes
STAB: Ready to fly.
DWM: Automatic mode: detected TDoA3
When I tried to mount the Z-Ranger v2 Deck on, my custom BigQuad drone is not able to run as no decks are enumerated, due to the GPIO errors as shown in the Console.
Console Messages with Errors.
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SYS: ----------------------------
SYS: Crazyflie 2.0 is up and running!
SYS: Build 48:ebf447ee94f5 (2019.02 +48) MODIFIED
SYS: I am 0x30343631303747130023002F and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_INFO: ERROR: Driver Gpio usage conflicts with a previously enumerated deck driver. No decks will be initialized!
DECK_INFO: ERROR: Driver Periph usage conflicts with a previously enumerated deck driver. No decks will be initialized!
DECK_INFO: ERROR: Driver Gpio usage conflicts with a previously enumerated deck driver. No decks will be initialized!
DECK_CORE: 0 deck(s) found
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
ESTIMATOR: Using Complementary (1) estimator
CONTROLLER: Using PID (1) controller
PLATFORM: Low interference mode. NRF51 TX power offset by -12db.
EEPROM: I2C connection [OK].
AK8963: Self test [OK].
STAB: Wait for sensor calibration...
SYS: Free heap: 16056 bytes
STAB: Ready to fly.
I would like to check what do I have to do, in order to make my custom BigQuad drone run with BigQuad Deck, Loco Deck and Z-Ranger v2 Deck?
I also have the Flow Deck v1, and was not able to use it as well, as I understand some HW modifications are required in order for the Flow Deck to work together with the BigQuad deck.