If voltage goes below ~2.6V it can reset the LH-deck

[tobbeanton]

For a longer discussion check this forum thread.

Summary: Especially during take off and if old batteries are used the LH-deck can be reset if voltage goes below ~2.6V, resulting in lost tracking and most often a crash.

One solution could be to reduce output power if voltage goes below e.g. 2.7V. This is specific to each platform so implementation must be platform dependent.

[jonasdn]

What does platform mean in this context @tobbeanton ? Different decks or Crazyflie 2.1 vs BigQuad vs Tag vs Quad? or both?

[jonasdn]

Would having a voltage limit under an #ifdef be a sufficient solution for this?

[jonasdn]

So, the way forward we see is:

• we want to log to the user in some way when this is happening
• we want to try adjust the current battery compensated table in morors.c to see if we can account for this
• we want to investigate adding more graceful handling of voltage dip to the supervisor module

For instance we can imagine a parameter that controls what the Crazyflie will do when we detect a dangerous voltage dip/level:

• Nothing
• Attempt to land
• Stop all motors
• Beep / highlight?