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:

Ex. 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.

Ex. 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)

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

Now that we have these new log blocks in the Firmware, we can use log blocks in the Client

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Crazyflie Swarm | PC Client Software | USB Radio | Firmware