Bitcraze Forums

Hi, crazyfliers!

I have a quick question: is there a way to completely turn off the onboard crash detection and avoid the consequential motor shut-offs? I am using the crazyflie_ros stack with CrazyBolt. The crash detection seems to kick in whenever the robot is tilted more than a certain angle (90 degrees from nominal hover state in roll and/or pitch most likely,) and then shuts off the motors until a reset. Since we are experimenting with making a drone flipping, we need to avoid the crash detection from stopping with the motor actuation.

Best,
Jiawei

Hi JarvisX!

Disabling the supervisor check is only possibly through modifying the CF2.1 firmware, there is no way to do itby sending a message to the Crazyflie.
The check is done in the supervisor module at line 120: https://github.com/bitcraze/crazyflie-f ... sor.c#L120

So you need to moedify the firmware and then flash the result, if you are unfamiliar with the process, check out this guide: https://www.bitcraze.io/documentation/t ... velopment/

Regards
Jonas

jonasdn wrote: ↑Mon Jun 14, 2021 4:35 am Hi JarvisX!

Disabling the supervisor check is only possibly through modifying the CF2.1 firmware, there is no way to do itby sending a message to the Crazyflie.
The check is done in the supervisor module at line 120: https://github.com/bitcraze/crazyflie-f ... sor.c#L120

So you need to moedify the firmware and then flash the result, if you are unfamiliar with the process, check out this guide: https://www.bitcraze.io/documentation/t ... velopment/

Regards
Jonas

Thank you, Jonas! I will modify the firmware.