Custom Build For Kalman Filter Modification For Constant Altitude Flight Fails To Flash On Crazyflie 2.x

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Introduction

The Crazyflie 2.x is a popular quadcopter drone that has been widely adopted for research and development purposes. One of the key features of the Crazyflie is its ability to be flashed with custom firmware, allowing users to modify and extend its functionality. In this article, we will explore the process of building and flashing custom firmware on the Crazyflie 2.x, with a focus on modifying the Kalman filter for constant altitude flight.

Building the Firmware

To build the firmware from source, we need to clone the official Crazyflie firmware repository and configure the build for the CF2 platform. We can do this using the following commands:

git clone https://github.com/bitcraze/crazyflie-firmware.git
cd crazyflie-firmware
make cf2_defconfig
make -j$(nproc)

This will produce a custom build of the firmware in the build/ directory, which we can then use to flash the Crazyflie.

Flashing the Firmware

To flash the firmware, we need to create a ZIP file containing the custom build and the necessary metadata. We can do this using the following commands:

cp ~/crazyflie-firmware/build/cf2.bin ~/Downloads/firmware-cf2-2023.11/cf2-2023.11.bin
cd ~/Downloads/firmware-cf2-2023.11
zip -r my_custom_release.zip *

This will create a ZIP file called my_custom_release.zip that contains the custom build and the necessary metadata.

The Problem

However, when we try to flash the custom build using CFClient, the Crazyflie reboots and the firmware does not appear to be installed. This is a problem that we need to solve in order to successfully flash the custom build.

Possible Causes

There are several possible causes for this problem. Here are a few possibilities:

  • Manifest.json: The manifest.json file contains metadata about the firmware, including its version and build date. It is possible that the manifest.json file is not correctly configured, which is causing the bootloader to reject the firmware.
  • Packaging: The way that we package the custom build may be causing the problem. For example, we may need to include additional metadata in the manifest.json file or use a specific naming convention for the ZIP file.
  • Build configuration: The way that we configure the build may be causing the problem. For example, we may need to use a specific build configuration or include additional flags in the make command.

Solutions

To solve this problem, we need to investigate each of the possible causes and determine which one is the root cause. Here are some possible solutions:

  • Check the manifest.json file: We can check the manifest.json file to ensure that it is correctly configured. We can also try modifying the manifest.json file to see if it makes a difference.
  • Check the packaging: We can check the way that we package the custom build to ensure that it is correctly formatted. We can also try using a different packaging method to see if it makes a difference.
  • Check the build configuration: We can check the way that we configure the build to ensure that it is correctly set up. We can also try modifying the build configuration to see if it makes a difference.

Conclusion

In conclusion, building and flashing custom firmware on the Crazyflie 2.x can be a complex process. However, by investigating the possible causes of the problem and trying different solutions, we can successfully flash the custom build and modify the Kalman filter for constant altitude flight.

Additional Resources

For more information on building and flashing custom firmware on the Crazyflie 2.x, please refer to the following resources:

Troubleshooting Tips

Here are some additional troubleshooting tips that may help you resolve the issue:

  • Check the console output: Check the console output to see if there are any error messages that may indicate the cause of the problem.
  • Check the firmware version: Check the firmware version to ensure that it is correctly set up.
  • Check the build configuration: Check the build configuration to ensure that it is correctly set up.
  • Try a different build configuration: Try a different build configuration to see if it makes a difference.
  • Try a different packaging method: Try a different packaging method to see if it makes a difference.

Q: What is the problem with flashing the custom build on the Crazyflie 2.x?

A: The problem is that the custom build is not being recognized by the bootloader, causing the Crazyflie to reboot and the firmware to not be installed.

Q: What are the possible causes of this problem?

A: There are several possible causes of this problem, including:

  • Manifest.json: The manifest.json file contains metadata about the firmware, including its version and build date. It is possible that the manifest.json file is not correctly configured, which is causing the bootloader to reject the firmware.
  • Packaging: The way that we package the custom build may be causing the problem. For example, we may need to include additional metadata in the manifest.json file or use a specific naming convention for the ZIP file.
  • Build configuration: The way that we configure the build may be causing the problem. For example, we may need to use a specific build configuration or include additional flags in the make command.

Q: How can I check the manifest.json file?

A: You can check the manifest.json file by opening it in a text editor and verifying that it contains the correct metadata. You can also try modifying the manifest.json file to see if it makes a difference.

Q: What is the correct way to package the custom build?

A: The correct way to package the custom build is to create a ZIP file that contains the custom build and the necessary metadata. You can do this using the following command:

zip -r my_custom_release.zip *

Q: What is the correct build configuration for the Crazyflie 2.x?

A: The correct build configuration for the Crazyflie 2.x is to use the cf2_defconfig configuration. You can do this using the following command:

make cf2_defconfig

Q: How can I troubleshoot the problem?

A: You can troubleshoot the problem by checking the console output to see if there are any error messages that may indicate the cause of the problem. You can also try a different build configuration or packaging method to see if it makes a difference.

Q: What are some additional resources that can help me resolve the issue?

A: Some additional resources that can help you resolve the issue include:

Q: Can I get help from the community?

A: Yes, you can get help from the community by posting on the Crazyflie forums or asking for help on the Crazyflie GitHub repository.

Q: What is the next step in resolving the issue?

A: The next step in resolving the issue is to investigate each of the possible causes and determine which one is the root cause. You can do this by checking the manifest.json file, trying a different packaging method, and trying a different build configuration.