Main README

If you want to read the original README, please refer to this link

About

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.

What's included in this fork

The following sections are what is included in this fork that is (currently) not included in the main repo of Paparazzi

Debugging

OpenOCD for Crazyflie 2.1

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.

Python with VSCode

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

Debug Setup photos

New modules for Crazyflie 2.1

GVF for rotorcrafts

Implemented GVF for rotorcrafts. Files changed:

• gvf.c
• gvf.h
• gvf_module.xml
• GCS related files (for example, allowing to modify speed from the GCS)
• Telemetry related files (example: default_rotorcraft_telemetry + GVF)
• TODO: Check the name of onemfile where height limit can be changed to up to 1000 in GCS

Circular and Segment Formation

Added segmentFormation.py and modified circularFormation.py for rotorcraft support

Other

• Added initial bare-metal implementation for Crazyflie 2.1
• Added initial airframe file for Crazyflie 2.0 (partially broken)
• Added airframe file for Bebop 2 GVF. Used for simulation and testing GVF purposes.
• 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/

Useful links, docs and related to this repo

• https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/openocd_gdb_debugging/
• https://openocd.org/pages/documentation.html