Implementation MSD19

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Getting started with Crazyflie 2.X

Need introduction here.

Manual Flight

This section explains in detail on how to setup a Crazyflie 2.X drone starting from hardware assembly to first manual flight. We used Windows to continue with initial setup of the software part for manual flight. However, Linux (Ubuntu 16.04) was preferred for the autonomous flight. Following additional hardware is required to setup first manual flight.

• Bitcraze Crazyradio PA USB dongle
• A remote control (PS4 Controller or Any USB Gaming Controller)

This link was used to get started with assembly and setting up the initial flight requirements

NOTE: It must be noted that the Crazyflie is running on its latest firmware. The steps to flash the Crazyflie with latest firmware are discussed here.

The Crazyflie client is used for controlling the Crazyflie, flashing firmware, setting parameters and logging data. The main UI is built up of several tabs, where each tab is used for a specific functionality. We used this link to get started with first manual flight of the drone and to develop an understanding of Crazyflie Client. Assisted flight mode is recommended as an initial manual testing mode which is explained here. But before this assisted flight mode is executed, loco-positioning system needs to be setup as explained in next section.

Autonomous Flight

To get started with autonomous flight, the pre-requisites are as follows:

• Loco Positioning System: Please refer to “Loco Positioning System Section” for more details. The link explains the whole setup of loco-positioning system.
• Linux (Ubuntu 16.04)
• Python Scripts: We used autnomousSequence.py file from crazyflie python library. We found this script to be the starting point of autonomous flight.

This link was also used develop a comprehensive understanding of autonomous flight. After setting up the LPS, modifications in the python script of autonomousSequence.py file were made to adjust it according to desired deliverables.

Modifications

The following modifications were made in the autonomousSequence.py file.

• Data Logging of Crazyflie Position from Path Planning and Simulator to CSVs
• Path Planning

These modifications can be observed by comparing the original autonomousSequence.py file with our file here. The difference is easily visible and understandable. This is the git-repository of our work. The modified autnomousSequence.py file can be accessed in Motion Control folder.

Troubleshooting

The drone positioning parameters i.e. roll, pitch and yaw are not stable. The solution is to trim the parameters which can be seen in Firmware Configuration headline in the following link. For autonomous flights, issues like updating the anchor nodes and assigning them identification numbers may appear in Windows, but they can be solved by updating the nodes in Linux.

Localization

Need introduction here.

Local Positioning System (Loco Deck)

The core of localization tool used for the drone is based on a purpose-built Loco Positioning system (LPS) that provides a complete hardware and software solution by Bitcraze. This system comes with a documentation regarding installation, configuration, and technical information in the online directory. Before starting, the following preparations are made;