Firmware

Not much work has been done in the Firmware yet. (as of 7/20/16) The few things we have been able to successfully modify are:

1. Creating New Log Blocks
2. Modifying the Default Yaw Mode
3. Adding and Modifying Parameter Values

Log Blocks

In the Crazyflie Firmware there is a generalized logging framework that allows us to make any group of variables into a log block. It makes things very easy to log. Here are a few examples:

1. Magnometer Log Block (code found in Firmware > modules > src > stabilizer.c)

LOG_GROUP_START(mag)
LOG_ADD(LOG_FLOAT, x, &mag.x)
LOG_ADD(LOG_FLOAT, y, &mag.y)
LOG_ADD(LOG_FLOAT, z, &mag.z)
LOG_GROUP_STOP(mag)

So with this code we have created a log block called 'mag' and it contains the X, Y, and Z measurements from the magnetometer sensor.

2. Accelerometer Log Block (code found in Firmware > modules > src > stabilizer.c)

LOG_GROUP_START(acc)
LOG_ADD(LOG_FLOAT, x, &acc.x)
LOG_ADD(LOG_FLOAT, y, &acc.y)
LOG_ADD(LOG_FLOAT, z, &acc.z)
LOG_ADD(LOG_FLOAT, zw, &accWZ)
LOG_ADD(LOG_FLOAT, mag2, &accMAG)
LOG_GROUP_STOP(acc)

So just like in the magnetometer block, here we have created a log group called 'acc' and inside this group we are logging the variables for the accelerometer's X, Y, and Z values as well as 2 other gravity based variables used for thrust compensation.

Using New Log Blocks in Swarm Client

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Crazyflie Swarm | PC Client Software | USB Radio | Firmware