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thrust command not working #10
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Hello, I'm having the same problem as you, but I didn't find yet a document where it's explaned the difference in the protocol between the crazyflie 2.0 and the original. |
Hi there, Thanks for the feedback! I remember having had that kind of problem a couple of times, but it eventually went away after re-flashing the firmware. It might have been that I flashed an older firmware that didn't have that problem/feature, and was not aware of the thrust=0 signal to start the motors. The library was developed and tested only on the first version, with rather old firmware. As I don't have the hardware anymore and sadly lack the time to port it to the needs of the newer versions, I'm afraid that's all I can tell you. @gustavokcouto, reverse-engineering the protocol was a pretty painful process (a mixture of looking at the Python library supplied by Bitcraze, the contents of their Wiki, and using a USB sniffer to figure out what's actually being transferred, plus lots of trial and error). So to be frank, I would be surprised if they have a thorough documentation of the protocol by now (not to speak of a comparison chart between version 1 and 2). If you think version 1 and 2 are compatible (or at least should be), I'm more than happy to incorporate pull requests into the driver library that introduce support for the new features. Cheers |
Hi, I'm using Crazyflie 2.0 with the latest firmware from their git repository. I have now managed to get it working by modifying their firmware and removing the thrust lock. In the file modules/src/commander.c |
Great you figured that out! And the way to enable that via control commands is to set thrust to 0 initially before trying to control the motors? Maybe a setup routine when sending the first set point package with thrust values from the library would do the job. |
Tried that and it didn't seem to unlock the motors. Have to look more into, if I find a solution I'll posted here. |
Great, thanks. |
I had a similar issue using a libcflie modified for windows. After putting the newest firmware on a Crazyflie 2 (i.e. cf2-2015.08.1 and cf2-nrf-2015.08.1), the thrust became locked. Sending a zero-thrust command in the beginning did however solve the problem - maybe because the following bugfix nesl/crazyflie-decawave@d8c3d8f is included in the new firmware. |
Maybe it's a suitable measure to include a dummy zero-thrust command when starting the copter. I'll see after adding it. Thanks for confirming the bug and its workaround.
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Hi, Is there something else I should do? Opening radio 0/80/250K Console text: SYS: Crazyflie 2.0 is up and r Console text: 5.08.1) CLEAN Console text: h! Console text: CFGBLK: v1, verification [OK] Console text: IMU: MPU9250 I2C connection [O Console text: IMU: AK8963 I2C connection [OK Console text: IMU: LPS25H I2C connection [OK1 Console text: DECK_DRIVERS: Found 4 drivers Console text: DECK_INFO: Found 0 deck memory Console text: . Console text: DECK_CORE: 0 deck enumerated Console text: EEPROM: I2C connection [OK]. Console text: AK8963: Self test [OK]. |
Hi,
1st of all great job with the library!
I have been trying to use your library but I can't seem to get the ex-gui example to work properly. When I run ex-gui it connects fine to to the crazyflie and I can see the gui animation move according to the movement of the crazyflie. However, no thrust command are send to crazyflie.
I think its an issue with the new crazyflie firmware that needs to send a thrust = 0 command to unlock the motors. I tried this and it didn't seem to work. Wondering if you have the same issue
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