I am currently working an a project and usuing the Crazyflie 2.1 with the Crazyradio and the Lighhouse V1 from my prof. He was setting up the system on a raspberry pi last year. So far I switched to the VM on my Window Pc and using updated projects in the VM and flashed the Crazyflie with the new firmware (2021.03 through the bootloader).
When starting the cfclient and connecting to the crazyflie the flight data output and the state estimate data freezes a couple seconds after connecting to the Crazyflie. I can still fly the Crazyflie with a gamepad, but the only values that are changing in the client are the gamepad inputs (Consol output: ESTKALMAN: State out of bounds, resetting). At this point I thought the missing conncection to the lighthouse was the problem.
I flashed the crazyflie with:
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PLATFORM=CF2
CFLAGS += -DDISABLE_LIGHTHOUSE_DRIVER=0
CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=1
The command based flight control in cfclient is either usable (but not working) or blank. While moving the crazyflie manually, the position of the Crazyflie doesnt update in the Lighthouse Tab either.
I'll post the results from Log Client. Specially because of the "not setting for variable.." message at the end, which I dont know how to solve (might be the problem?)
Without "CFLAGS += -DLIGHTHOUSE_AS_GROUNDTRUTH":
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onsole:
SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
CFGBLK: v1, verification [OK]
DECK_INFO: Warning! No driver found for deck.
DECK_CORE: 2 deck(s) found
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 1
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
SYS: About to run tests in system.c.
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: Self test passed!
STAB: Wait for sensor calibration...
SYS: Free heap: 19240 bytes
LHFL: Lighthouse bootloader version: 2
STAB: Ready to fly.
LHFL: Bitstream CRC32: 112BC794 [PASS]
LHFL: Firmware version 6 verified, booting deck!
ESTKALMAN: State out of bounds, resetting
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Log Client:
INFO:cflib.crazyflie:Callback->Connection initialized[radio://0/80/2M/E7E7E7E701]
INFO:cflib.crazyflie:We are connected[radio://0/80/2M/E7E7E7E701], request connection setup
INFO:cflib.crazyflie:Callback->Connected to [radio://0/80/2M/E7E7E7E701]
INFO:cflib.crazyflie.platformservice:Protocol version: 4
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
INFO:cflib.crazyflie.toc:TOC for port [5] found in cache
INFO:cflib.crazyflie:Log TOC finished updating
INFO:cflib.crazyflie.mem:7 memories found
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/E7E7E7E701]
INFO:cfclient.utils.logconfigreader:Parsing [stabilizer.json]
INFO:cfclient.utils.logconfigreader:Parsing [Lighthouse.json]
INFO:cfclient.utils.logconfigreader:Parsing [lighhiusetst.json]
INFO:cfclient.ui.tabs.locopositioning_tab:Crazyflie connected to radio://0/80/2M/E7E7E7E701
INFO:cfclient.ui.tabs.locopositioning_tab:Requesting loco deck parameter
INFO:cfclient.ui.tabs.lighthouse_tab:Crazyflie connected to radio://0/80/2M/E7E7E7E701
INFO:cfclient.ui.tabs.lighthouse_tab:Requesting lighthouse deck parameter
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.AK8963]: 0
INFO:cflib.crazyflie.log:Have successfully started logging for id=8
INFO:cflib.crazyflie.log:Have successfully started logging for id=12
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.LPS25H]: 0
INFO:cflib.crazyflie.log:Have successfully started logging for id=13
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.BMP388]: 1
INFO:cfclient.ui.tabs.locopositioning_tab:No Loco deck installed
INFO:cfclient.ui.tabs.locopositioning_tab:No Loco deck installed
INFO:cfclient.ui.tabs.lighthouse_tab:Lighthouse deck installed, enabling the tab
INFO:cfclient.ui.tabs.lighthouse_tab:Lighthouse deck installed, enabling the tab
INFO:cflib.crazyflie.log:Have successfully started logging for id=14
INFO:cfclient.ui.tabs.FlightTab:Changed effect to 0
INFO:vispy:Not setting value for variable vec4 u_translate_6; uniform is not active.
INFO:vispy:Not setting value for variable vec4 u_translate_6; uniform is not active.
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
INFO:cflib.crazyflie.log:Have successfully started logging for id=11
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
INFO:cflib.crazyflie.log:Have successfully deleted id=11
INFO:cflib.crazyflie.log:Have successfully started logging for id=10
WARNING:vispy:failed to create compose table
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
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Console:
SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
SYS: Build 129:972c5f6edef2 (2021.03 +129) MODIFIED
SYS: I am 0x203937434848500E004A0025 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_INFO: Warning! No driver found for deck.
DECK_CORE: 2 deck(s) found
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 1
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
SYS: About to run tests in system.c.
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: Self test passed!
STAB: Wait for sensor calibration...
SYS: Free heap: 19240 bytes
LHFL: Lighthouse bootloader version: 2
STAB: Ready to fly.
LHFL: Bitstream CRC32: 112BC794 [PASS]
LHFL: Firmware version 6 verified, booting deck!
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Log Client after restart cfclient:
INFO:cfclient.utils.input:Selected MUX: Normal
INFO:cfclient.ui.main:Role of Sony PLAYSTATION(R)3 Controller is Device
INFO:cfclient.utils.input.mux:Adding device Sony PLAYSTATION(R)3 Controller to MUX Normal
INFO:cflib.crtp.radiodriver:v99.55 dongle with serial N/A found
INFO:cflib.drivers.cfusb:Looking for devices....
INFO:cflib.crtp.prrtdriver:Initialized PRRT driver.
INFO:cflib.crazyflie:Callback->Connection initialized[radio://0/80/2M/E7E7E7E701]
INFO:cflib.crazyflie:We are connected[radio://0/80/2M/E7E7E7E701], request connection setup
INFO:cflib.crazyflie:Callback->Connected to [radio://0/80/2M/E7E7E7E701]
INFO:cflib.crazyflie.platformservice:Protocol version: 4
INFO:cflib.crazyflie.toc:TOC for port [5] found in cache
INFO:cflib.crazyflie:Log TOC finished updating
INFO:cflib.crazyflie.mem:7 memories found
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/E7E7E7E701]
INFO:cfclient.utils.logconfigreader:Parsing [stabilizer.json]
INFO:cfclient.utils.logconfigreader:Parsing [Lighthouse.json]
INFO:cfclient.utils.logconfigreader:Parsing [lighhiusetst.json]
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
INFO:cfclient.ui.tabs.locopositioning_tab:Crazyflie connected to radio://0/80/2M/E7E7E7E701
INFO:cfclient.ui.tabs.locopositioning_tab:Requesting loco deck parameter
INFO:cfclient.ui.tabs.lighthouse_tab:Crazyflie connected to radio://0/80/2M/E7E7E7E701
INFO:cfclient.ui.tabs.lighthouse_tab:Requesting lighthouse deck parameter
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
WARNING:vispy:QObject::connect: Cannot queue arguments of type 'QList<QPersistentModelIndex>'
(Make sure 'QList<QPersistentModelIndex>' is registered using qRegisterMetaType().)
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.AK8963]: 0
INFO:cflib.crazyflie.log:Have successfully started logging for id=1
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.LPS25H]: 0
INFO:cfclient.ui.tabs.FlightTab:[imu_sensors.BMP388]: 1
INFO:cfclient.ui.tabs.locopositioning_tab:No Loco deck installed
INFO:cfclient.ui.tabs.lighthouse_tab:Lighthouse deck installed, enabling the tab
INFO:cflib.crazyflie.log:Have successfully started logging for id=7
INFO:cfclient.ui.tabs.FlightTab:Changed effect to 0
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
INFO:vispy:Not setting value for variable vec4 u_translate_6; uniform is not active.
INFO:vispy:Not setting value for variable vec4 u_translate_6; uniform is not active.
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
INFO:cflib.crtp.radiodriver:Dongle reported ACK status == None
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INFO:vispy:Not setting value for variable vec4 u_translate_6; uniform is not active.
INFO:vispy:Not setting value for variable vec4 u_translate_6; uniform is not active.