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Adding a new system task

First check out if you can use the new app layer, which might be enough for your purpose already This howto describes how to create a new system task. A FreeRTOS task is similar to a thread on a standard operating system. It has its own function call stack, and can be preempted by the RTOS scheduler.… Read More

Setting Up A Taranis Controller

WARNING: These instructions are old and might not work anymore Using a Taranis X9D (Plus) RC transmitter as a controller If you already own a Taranis X9D (Plus) RC transmitter and want to use it as a controller, it can be configured to work with the Python PC client or the Android client app. Fortunately… Read More

i2c_element

Classes I2CElement I2CElement(id, type, size, mem_handler) A memory Initialize the element with default values Ancestors (in MRO) cflib.crazyflie.mem.memory_element.MemoryElement Methods def disconnect(self) def new_data(self, mem, addr, data) Callback for when new memory data has been fetched def update(self,… Read More

Solder pins to a deck

To make the system more robust it could be a good idea to solder the pins to the top deck. Especially when using the Loco Positioning deck and when the drones are supposed to fly a lot. Be aware that performing these operations will void the warranty on the deck! There are several ways to do this. I… Read More

Crazyflie 2.X BLE Protocol

The current implementation of Bluetooth Low Energy (BLE) in Crazyflie 2.X is basically a CRTP bridge. It allows to send and receive CRTP packets to and from the Crazyflie 2.0 main CPU, the STM32F4. This means that to control the Crazyflie and send/receive information the classical CRTP ports are used… Read More

DFU update of the STM32F405

This page explains how to flash bin files over the micro usb connection. The DFU (Device Firmware Update) mode should mainly be considered as a recovery mode in which you can load new firmware to the STM32F405 MCU or as a mass firmware update mode. Do not use it if you do not know what it is The OTA… Read More

Deck memory format

The OneWire (OW) memory contained in all Crazyflie 2.X decks is used to detect the boards connected in order to: Decide if it is safe to start the system. When the system is started, initialize the required drivers for the deck installed. The memory format has CRC to guarantee data integrity. It is… Read More

Adding and modifying sites

The crazyflie-testing infrastructures works by applying operations or tests on a collection of devices, called sites. A site is defined by a toml file, following a certain format. All site definition files are place in the sites/ directory, and the files should end in .toml. In order to make use of… Read More

Sniffing nRF24 with GNU Radio and HackRF

Thanks to a software from Cyber Explorer it is possible to sniff the NRF24 radio packet using an SDR radio. Though the original method is using rtl-sdr with the rtl-fm program. This page aims at documenting how to setup an NRF sniffer with the HackRFBlue (which is fully compatible with HackRF One).… Read More

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