If you want to read the original README, please refer to this link
This repo is the code for my bachelor's thesis, which main repo is here. There is lot of extra info there, in fact, you should start over there in order to better understand this repo. There is also some useful scripts that install dependencies needed for the additions in this fork.
The following sections are what is included in this fork that is (currently) not included in the main repo of Paparazzi
Remember to set RTOS_DEBUG to 1 in conf/airframes/UGR/crazyflie_2.1.xml for debugging ChibiOS.
Added a Makefile for easy debugging with OpenOCD. This Makefile assumes you have Bash, Konsole and other dependencies installed.
Run:
make -f Makefile.debug
This will launch an OpenOCD server and two new terminals, one with telnet and the other one with GDB. It also dumps the firmware in ARM assembly with objdump to the folder objdump.
It is also very recommended (easier and works better) to follow this
guide
from Bitcraze (the official debugging guide for Crazyflie).
Use the updated file .vscode/launch.json from this repo.
In the file .vscode/launch.json from this repo, there is also configuration for debugging the current Python file.
This was used for debugging the crazyradio2ivy.py file
- Added initial bare-metal implementation for Crazyflie 2.1
- Added firmware configuration for Crazyflie in
conf/airframes/UGR/ - Added new flightplan for Crazyflie in
conf/flight_plans/UGR/ - Added new telemetry option for Crazyflie GVF in
conf/telemetry/GVF - Added Crazyflie 2.1 GVF in
conf/conf_ugr.xml - Added Control Panel for Crazyflie in
conf/userconf/UGR/ - blah blah