[Solved] Hovering mode | Deck development

[jassi0709]

Hello guys.
It's more than 2 months that I am working on Crazyflie 2.0 and I just realized that in the Master branch of September 2016 there is no hold mode (hovering mode on the Z axis) anymore.

Can some of the developers tell me which version of the firmware should I use in order to be able to exploit the barometer to hover to a defined altitude?
In addition, I have already developed some driver using the Deck API and it would be great if that feature will be still present in the hovering firmware versione that you will suggest me (but I believe that these 2 feature does not come together, yet).

Please let me know.
Best regards,
jassi

[arnaud]

Hi,

I have indeed discover recently that altitude-hold seems to be broken in Master but I have not had time to investigate where the break occured. I would bet on some of the recent position controller work. Are you seeing the problem with a release from September?

Best regards,
Arnaud

[jassi0709]

Hi Arnaud,
To be precise I started my work from the following commit:

Code: Select all

commit 876a78db204bcbad445852557896b342cf08d9e5
Merge: 6db17a2 98095dc
Author: Arnaud Taffanel <arnaud@bitcraze.se>
Date:   Tue Oct 25 12:41:58 2016 +0200

    Merge branch 'PSVL-filter_everything'

But already in September 26th there was no hovering.

Best regards,
Jassy

[arnaud]

I just tested and the latest binary build from November has a working altitude hold. The commit you started with is one of my prime suspect for breaking the altitude hold.

I just tested and the commit just before, 6db17a25793aa, and altitude hold is working there! Lets try to fix it in master ... we should add a ticket in github crazyflie-firmware project.

[arnaud]

Hi Jassy,

The altitude-hold was just fixed in git: https://github.com/bitcraze/crazyflie-f ... issues/170

You should now be able to use the master branch without problems.

About the deck API, if I understand your concern this is not a problem if you can run from master. Am I understanding well?

Are you working on an altitude-hold-related deck?

Best regards,
Arnaud

[jassi0709]

Hi Arnaud,
Thank you very much for the prompt resolution. Yes I was using the master branch where I thought there is everything including altitude-hold and deck API.

About the deck API, if I understand your concern this is not a problem if you can run from master. Am I understanding well?

So far I used the deck API to write a camera driver and everything worked almost smoothly. Recently, I wanted to fly the quadcopter in hover mode and I realized that the altitude-hold was missing.

Are you working on an altitude-hold-related deck?

No, I am using the SPI-related deck.

Best regards,
Jassy