Crazyflie firmware about crazyflie-tools HOT 1 OPEN

Hi José,

I know Bitcraze has been busy improving their firmware since I have forked. I was hopping to put some time into rebasing soon. There is actually some good overlap between the things they have changed and the things I had in my own fork (ex: handling of CRTP packets and linearization of the motor thrusts).

Re-using the estimator is a good idea. But it does require a steady stream of raw IMU data which might require some customization of the firmware if you decide to use upstream.

If you want to do off-board control I would suggest paying a good amount of attention to the communication code. Bitcraze did a good job a building flexible logging but they never really optimized for high rate telemetry/control (low latency, high rate etc.). For example, sending new motor commands should be the preferred strategy over waiting for acks. Probably one of the few pitfalls I can think of.

Good luck!

from crazyflie-tools.