firmware update question

[chaos4ros2]

Issue template

• Hardware description: Crazyflie 2.1
• RTOS: freeRTOS
• Installation type: micro_ros_setup
• Version or commit hash: foxy

Steps to reproduce the issue

I'm trying to run the micro-ros demo with crazyflie2.1

1. Run the docker compose and build with

   docker-compose run --rm cf_builder
   ros2 run micro_ros_setup configure_firmware.sh crazyflie_demo 
   ros2 run micro_ros_setup build_firmware.sh

   

2. Put Crazyflie in DFU mode and check with

   lsusb

   The terminal outside the container is in DFU mode but the terminal inside container is in BOOTLOADER mode like these

3. I can only flash the firmware inside the container so flash the micro-ROS firmware with

   ros2 run micro_ros_setup flash_firmware.sh

Expected behavior

micro-ROS firmware is flashed successfully and Connect to Crazyflie successfully.

Actual behavior

Messages showed in terminal loos okay but when I connected to Crazyflie with cfclient (after docker-compose up -d), Crazyflie turned into 「Self test fail」(The right front LED (1) is repeatedly blinking five short red pulses with a longer pause between groups.)

Additional information

Is there something wrong and how can I check everything is ok?

[pablogs9]

Can you share the output of the micro-ROS Agent with -v6 flag enabled?

[chaos4ros2]

I'm not confident that this way of doing is good. based on this issue I typed

sudo docker exec -it micro-ros_crazyflie_demo_cf_agent_1 /bin/bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/pts/checked_number -v6

and in another terminal

sudo docker exec -it micro-ros_crazyflie_demo_cf_client_1 /bin/bash
cfclient

here is the output

Everytime I pushed scan button, crazyflie rebooted and turned into「Self test fail」state.

[chaos4ros2]

I feel like I understood a little.

I tried and confirmed the following：

1. Can't put Crazyflie 2.1 in recovery bootloader mode like this video. => There seems to be a problem with bootloader.

2. Bin bootloader recovery follow the tutorial. You can see the bootloader uses address 0x08000000.

3. BIN file DFU flashing. The firmware uses address 0x08004000.

4. I flashed the micro-ROS fireware into address 0x08000000 that is prepared for bootloader.

So overflash may be the problem and here is my question： How can I flash the micro-ROS firmware with DFU mode in a docker container or flash it to a specified address.

[Acuadros95]

Hi @chaos4ros2,

I don't think thats the problem, as specified on this link: If the Crazyflie 2.X firmware was compiled with CLOAD=1 (default option) the binary should be flashed after the bootloader at address 0x08004000.

But we are building with CLOAD=0: link.

I think the problem may be related to the interaction between the demo and the agent. I am currently working on this, will come back with updates.

Anyway, you can change the address by modifying this line: https://github.com/micro-ROS/micro_ros_setup/blob/galactic/config/freertos/crazyflie21/flash.sh#L5

[chaos4ros2]

Hi @Acuadros95,

I don't think thats the problem, as specified on this link: If the Crazyflie 2.X firmware was compiled with CLOAD=1 (default option) the binary should be flashed after the bootloader at address 0x08004000. But we are building with CLOAD=0: link.

I have learned a lot from you. Thank you very much.

I think the problem may be related to the interaction between the demo and the agent. I am currently working on this, will come back with updates.

This will be very helpful for me! I am waiting for you to come back.

Anyway, you can change the address by modifying this line: https://github.com/micro-ROS/micro_ros_setup/blob/galactic/config/freertos/crazyflie21/flash.sh#L5

I learn something new again, thanks for teaching me the way to modify address. Because I don't have any experience with embedded system, I am going to try it after testing your updates.

[Acuadros95]

Hello @chaos4ros2,

We just made a big update on this demo, please update your repos/dockers and give it a try. Feel free to ask any questions and give feedback.

[chaos4ros2]

Hello Acuadros95,

I am trying your update and getting stuck in How to prepare the Raspberry Pi applications?

I got a error like blow when I typed

sudo docker run -ti --rm microros/base:galactic

error:

chaos@chaos:~/ros2/drone_ws/micro-ROS_crazyflie_demo$ sudo docker run -ti --rm microros/base:galactic
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
standard_init_linux.go:228: exec user process caused: exec format error

[chaos4ros2]

Sorry to bother you again. I have another question about how to control drone with only one Crazyradio PA.

I found that two channels are used in crazyflie's firmware. One for publishing sensor data and the other one for commanding crazyflie with a controller. The tutorial says it is just need one Crazyradio PA, but is it possible to use two channels with one Crazyradio PA?

[Acuadros95]

I am trying your update and getting stuck in How to prepare the Raspberry Pi applications?

This tutorial is intended to cross-compile the applications from a regular computer, and I guess you are running the docker inside the raspberry.

I found that two channels are used in crazyflie's firmware.

Yes, the crazyflie demo is a very specific use case, where two different Crazyradios are used. If you want to test micro-ROS, I advise you to try the position publisher example instead.

You can use micro-ROS and command the crazyflie with a controller using only one crazyflie with that example. You can also just run the demo and just connect to the main task.

[chaos4ros2]

I ran two demos and confirm the results.

Tf datas are correctly plotted in rviz2 in crazyflie_demo sample and /drone/attitude(odometry) are correctly sended by drone in crazyflie_position_publisher sample. And I can command the crazyflie with a controller at the same time !

crazyflie_demo's result :

crazyflie_position_publisher's result :

Thanks for the amazing demo and answer. It motivates me to study ROS2 and use micro-ROS. I am going to master micro-ROS via these demos.

I also created a PR to fix the node.js vision problem during set up cf_visualizer container.