search

RoboticExplorationLab / tinympc-crazyflie-firmware

TinyMPC-integrated firmware for the Crazyflie Nano Quadcopter
https://tinympc.org
GNU General Public License v3.0
16 stars 3 forks source link

lh_flasher.c doens't get flashed on deck #5

Closed SoonBu closed 3 months ago

SoonBu commented 4 months ago

Hello community,

I'm currently working with the crazyflie 2.1 and I try to flash the controller_tinympc on my crazyflie. I have a GAP8 deck connected on my crazyflie and now I want to flash the controller_tinympc on my crazyflie.

When I flash the default firmware: https://github.com/bitcraze/crazyflie-firmware/tree/master. Then I have the default controllers and the lighthouse settings are uploaded to my deck aswell in order for me to use it. But when i flash the default firmware and then flash the controller_tinympc from the tinympc-crazyflie-firmware], my crazyflie gets the default firmware successfully but my deck is empty and there is no firmware flashed on it.

I tracked during the building steps of the "tinympc-crazyflie-firmware" the process of "make" and I noticed that the "lh_flasher.c" (tinympc-crazyflie-firmware/src/drivers/src/) doesn't get build. I have also done "make clean" -> "make".

Can someone help me please?

xkhainguyen commented 4 months ago

Hi, you may want to enable the light house module or something like that in some config files since we may disable it to save the memory. controller_tinympc_input_soc is one of the most recent examples that you should try first.

SoonBu commented 4 months ago

Hi, thank you for your fast reply. I'm still a beginner to all crazyflie functions. Can you tell me where I can set the light house module in the configs? (path to the file -> which line to adjust)

And I tried flashing the https://github.com/RoboticExplorationLab/tinympc-crazyflie-firmware/tree/main/examples/controller_tinympc_input_soc on my crazyflie 2.1 with its GAP8 deck on it but when I open the cfclient the console outputs me:

SYS: I am 0x203937434848500D0047003C and I have 1024KB of flash! CFGBLK: v1, verification [OK] DECK_INFO: Warning! No driver found for deck. DECK_CORE: 1 deck(s) found IMU: BMI088: Using I2C interface. IMU: BMI088 Gyro connection [OK]. IMU: BMI088 Accel connection [OK] IMU: BMP388 I2C connection [OK] ESTIMATOR: Using Complementary (1) estimator CONTROLLER: Using PID (1) controller MTR-DRV: Using brushed motor driver SYS: About to run tests in system.c. SYS: NRF51 version: 2024.2 (CF21) EEPROM: I2C connection [OK]. STORAGE: Storage check [OK]. IMU: BMI088 gyro self-test [OK] SYS: Self test passed! STAB: Wait for sensor calibration... SYS: Free heap: 20504 bytes MPC: Waiting for activation ... STAB: Ready to fly. STAB: WARNING: stabilizer loop rate is off (499)

The important part is "DECK_INFO: Warning! No driver found for deck." is there a setting in the configs to flash onto the deck or am I missing something?

xkhainguyen commented 4 months ago

Please check https://github.com/RoboticExplorationLab/tinympc-crazyflie-firmware/issues/6#issue-2417981573