Hi!
I integrated an analog sensor (OPT101 photodiode) to a prototype deck on the bottom of the crazyflie and used it in combination with a lighthouse deck on top. I take several samples from the the sensor, process them internally and then retrieve the result by adding it to a log group. I first tested that the readings work well by creating a python program to log the information without flying (just me holding the CF) and it works as expected. However, when I run the same program with the crazyflie flying autonomously I notice that my sensor readings stop working and return what I believe is just noise.
I first suspected that this could be an electrical problem from the motors drawing power away from my sensor but I see that the photodiodes uses less than 15mA of current. Does this sound like a hardware problem? The analog sensor is connected to the VCC, GND and to the A0 pin (DECK_GPIO_TX2).
Otherwise, what could be changing when the drone is on flight that makes the sensor stop working properly.
Additional sensor doesn't work during flight
Re: Additional sensor doesn't work during flight
I took a Task Dump to see that my task (PD-ADC) was not taking too much processing time but that doesn't seem to be the case:
Code: Select all
SYSLOAD: Task dump
SYSLOAD: Load Stack left Name
SYSLOAD: 1.18 153 Tmr Svc
SYSLOAD: 21.35 123 IDLE
SYSLOAD: 0.27 206 CRTP-RX
SYSLOAD: 0.01 77 PWRMGNT
SYSLOAD: 12.0 143 SENSORS
SYSLOAD: 4.98 0 PD-ADC
SYSLOAD: 0.0 246 LOG
SYSLOAD: 0.0 195 MEM
SYSLOAD: 0.0 164 CMDHL
SYSLOAD: 0.0 91 PARAM
SYSLOAD: 0.19 55 SYSTEM
SYSLOAD: 0.16 57 CRTP-TX
SYSLOAD: 0.54 86 LEDSEQCMD
SYSLOAD: 0.18 93 CRTP-SRV
SYSLOAD: 10.78 57 LH
SYSLOAD: 1.0 163 SYSLINK
SYSLOAD: 19.10 228 STABILIZE
SYSLOAD: 28.19 260 KALMAN
SYSLOAD: 0.0 115 USBLINK
SYSLOAD: 0.0 105 PLATFORM-
Re: Additional sensor doesn't work during flight
That sounds like a strange behavior. Can you try removing the Lighthouse deck and fly it manually and see if there is a difference? Does the sensor reading make sense before you take off and then stops working at take off?
Re: Additional sensor doesn't work during flight
I am sorry, I believe my problems were due to a hardware issue where one of the pins of the attached sensor floats due to vibrations. When I use a different pcb with the same configuration it seems to work fine.
Thank you
Thank you