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Hamish Willee
8e0f223b3a
* Remove Zubax Orel - not available and no other presence * Fix up zubax product links * Snapdragon flight - delete as no longer relevant hardware * Delete intel aero docs * Brushless whoop - remove docs except for link to old version * Many link fixes
291 lines
12 KiB
Markdown
291 lines
12 KiB
Markdown
# Crazyflie 2.1
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<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.html"/>
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://www.bitcraze.io/) for hardware support or compliance issues.
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:::
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:::warning
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Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
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:::
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The Crazyflie line of micro quads was created by Bitcraze AB.
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An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1-brushless/).
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## Quick Summary
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::: info
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The main hardware documentation is [here](https://wiki.bitcraze.io/projects:crazyflie2:index)
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:::
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- Main System-on-Chip: STM32F405RG
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- CPU: 168 MHz ARM Cortex M4 with single-precision FPU
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- RAM: 192 KB SRAM
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- nRF51822 radio and power management MCU
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- BMI088 3 axis accelerometer / gyroscope
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- BMP388 high precision pressure sensor
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- uUSB connector
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- On-board LiPo charger with 100mA, 500mA and 980mA modes available
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- Full speed USB device interface
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- Partial USB OTG capability (USB OTG present but no 5V output)
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- 8KB EEPROM
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## Where to Buy
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The vehicle can be purchased here: [Crazyflie 2.1](https://store.bitcraze.io/products/crazyflie-2-1) (store.bitcraze.io)
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Useful peripheral hardware includes:
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- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
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- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
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- [Flow deck v2](https://store.bitcraze.io/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
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- [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
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- [Multi-ranger deck](https://store.bitcraze.io/collections/decks/products/multi-ranger-deck) Multi-direction object detection
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- [Buzzer deck](https://store.bitcraze.io/collections/decks/products/buzzer-deck) Audio feedback on system events, like low battery or charging completed.
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- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Expansion board that gives you the ability to test new hardware easily without soldering.
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- [SD-card deck](https://store.bitcraze.io/collections/decks/products/sd-card-deck): High speed onboard logging to a micro SD card
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- [Logitech Joystick](https://support.logi.com/hc/en-us/articles/360024326793--Getting-Started-Gamepad-F310)
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## Assemble Crazyflie 2.1
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- [Bitcraze crazyflie 2.1 getting started](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/).
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## Flashing PX4
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::: info
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These instructions have only been tested on Ubuntu.
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:::
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After setting up the PX4 development environment, follow these steps to install the PX4 Autopilot on the Crazyflie 2.1:
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1. Download the source code of the PX4 Bootloader:
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```sh
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git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
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```
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1. Navigate into the top directory of the source code and compile it using:
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```sh
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make crazyflie21_bl
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```
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1. Put the Crazyflie 2.1 into DFU mode by following these steps:
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- Ensure it is initially unpowered.
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- Ensure battery is disconnected.
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- Hold down the reset button (see figure below...).
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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1. Install _dfu-util_:
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```sh
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sudo apt-get update
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sudo apt-get install dfu-util
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```
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1. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
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```
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When powering on the Crazyflie 2.1 the yellow LED should blink.
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1. Download the source code of the PX4 autopilot:
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git
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```
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1. Navigate into the top directory of the source code and compile it using:
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```sh
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cd PX4-Autopilot/
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make bitcraze_crazyflie21_default upload
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```
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1. When prompted to plug in device, plug in Crazyflie 2.1.
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The yellow LED should start blinking indicating bootloader mode.
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Then the red LED should turn on indicating that the flashing process has started.
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1. Wait for completion.
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1. Done! Calibrate the sensors using [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors.html).
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## Flashing Original Bitcraze Firmware
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1. Download the latest [Crazyflie 2.1 bootloader](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases)
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1. Put the Crazyflie 2.1 into DFU mode by following these steps:
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- Ensure it is initially unpowered.
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- Ensure battery is disconnected.
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- Hold down the reset button.
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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1. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
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```
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When powering on the Crazyflie 2.1 the yellow LED should blink.
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1. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial.
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## Wireless Setup Instructions
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The onboard nRF module allows connecting to the board via Bluetooth or through the proprietary 2.4GHz Nordic ESB protocol.
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- A [Crazyradio PA](https://www.bitcraze.io/crazyradio-pa/) is recommended.
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- To fly the Crazyflie 2.1 right away, the Crazyflie phone app is supported via Bluetooth.
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Connecting via **MAVLink**:
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- Use a Crazyradio PA alongside a compatible GCS.
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- Download the _crazyflie-lib-python_ source code:
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```sh
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git clone https://github.com/bitcraze/crazyflie-lib-python.git
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```
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::: info
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We will use [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/cfbridge.py) to setup a wireless MAVlink communication link between Crazyflie 2.1 (flashed with PX4) and QGroundControl. _Cfbridge_ enables QGroundControl to communicate with the crazyradio PA.
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The [C based cfbridge](https://github.com/dennisss/cfbridge) is currently experiencing data loss issues, which is why we have chosen to use **cfbridge.py**.
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:::
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- Make sure you have set the udev permissions to use the USB Radio. To do this, follow the steps listed [here](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/) and **restart** your computer.
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- Connect a Crazyradio PA via USB.
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- Build a [virtual environment (local python environment)](https://virtualenv.pypa.io/en/latest/) with package dependencies using the following method:
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```sh
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pip install tox --user
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```
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- Navigate to the crazyflie-lib-python folder and type:
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```sh
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make venv
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```
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- Activate the virtual environment:
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```sh
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source venv/bin/activate
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```
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- Install required dependencies:
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```sh
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pip install cflib
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pip install -r requirements.txt
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```
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To connect Crazyflie 2.1 with crazyradio, **launch cfbridge** by following these steps:
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- Power off and power on Crazyflie 2.1 and wait for it to boot up.
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- Connect a Crazyflie radio device via USB.
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- Navigate to the crazyflie-lib-python folder.
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- Activate the environment:
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```sh
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source venv/bin/activate
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```
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- Navigate to the examples folder:
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```sh
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cd examples
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```
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- Launch cfbridge:
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```sh
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python cfbridge.py
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```
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::: info
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_Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
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If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
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Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`
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:::
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- Open QGroundControl.
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- After using _cfbridge_, you can deactivate the virtualenv if you activated it by pressing `CTRL+z`.
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Most of the time, launching _cfbridge_ again from the same terminal doesn't connect to crazyflie, this can be solved by closing the terminal and relaunching _cfbridge_ in a new terminal.
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:::tip
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If you change any driver in [crazyflie-lib-python](https://github.com/bitcraze/crazyflie-lib-python) or if launching _cfbridge_ in a new terminal does not find crazyflie, you can try navigating to the crazyflie-lib-python folder and run the script below to rebuild cflib.
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```sh
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make venv
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```
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:::
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::: info
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The Joystick menu in QGC, only appears after you connect the controller to the PC (for example a Playstation 3 controller).
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:::
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## Hardware Setup
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Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
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In order to log flight details, you can mount SD card deck on top of crazyflie as shown below:
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## Using FrSky Taranis RC Transmitter as Joystick
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If you already own a Taranis RC transmitter and want to use it as a controller, it can be configured as a USB Joystick:
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- Create a new model in Taranis.
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- In _MODEL SETUP_ menu page, turn off both internal and external TX modules.
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- In _OUTPUTS_ menu page (also called “SERVOS” page in some Taranis transmitters), invert Throttle (CH1) and Aileron (CH3).
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To use Taranis switches to arm/disarm and switch to different flight modes:
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- In Taranis UI _MIXER_ menu page, you can assign the switches to any channel in the range channel 9-16 which map to the buttons 0-7 in the QGroundControl Joystick setup. For example, Taranis “SD” switch can be set to channel 9 in Taranis UI:
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- Connect Taranis to PC with a USB cable and Open QGroundControl.
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- In QGroundControl Joystick Setup, you can see the buttons turning yellow when you switch them on. For example, channel 9 in Taranis maps to button 0 in QGroundControl Joystick setup. You can assign any mode to this button e.g. _Altitude_ mode. Now when you lower the switch "SD", flight mode will change to _Altitude_.
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### ROS
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To connect to Crazyflie 2.1 via MAVROS:
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- Start up _cfbridge_ using the above instructions.
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- Change the UDP port QGroundControl listens to:
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- In QGroundControl, navigate to **Application Settings > General** and uncheck all the boxes under _Autoconnect to the following devices_.
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- Add in **Comm Links** a link of type _UDP_, check the _Automatically Connect on Start_ option, change the _Listening Port_ to 14557, add Target Hosts: 127.0.0.1 and then press **OK**.
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- Make sure you have [MAVROS](https://github.com/mavlink/mavros/tree/master/mavros#installation) installed.
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- Start MAVROS with command:
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```sh
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roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14551" gcs_url:="udp://@127.0.0.1:14557"
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```
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- Restart QGroundControl if it doesn't connect.
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## Flying
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<lite-youtube videoid="0qy7O3fVN2c" title="Crazyflie 2.1 - PX4 Firmware (stabilized mode)"/>
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