AI deck and Loco Positioning deck compatibility with custom firmware

[RaresCraciun]

I have a problem with the AI Deck when I try to use it with the Loco Positioning deck on my Crazyflie 2.0. I know there is a GPIO conflict with the two of them, but even after I try the firmware workaround described in several posts such as #854, I still can't manage to make them work.

After cloning the firmware as described here, I modified aideck.c as described in #854, then:

make cf2_defconfig
(make menuconfig) # when I wanted to change the AI Deck to act as Acces Point
make -j$(nproc)
make cload

The firmware flashed and after this I experienced two cases, depending on if I chose the Act as Access Point option or not.

Case 1: No initial WiFi setup

1. Without Loco Positioning Deck attached

Without a Loco Positioning deck attached, both LEDs on the AI Deck are flashing and I can see the WiFi Streaming Example in the WiFi list of my computer. You can see the console output from cfclient in the attached text file. After connecting, I also successfully run the opencv-viewer.py script.

2. With Loco Positioning Deck attached

With a Loco Positioning deck attached, LED 1 on the AI Deck is not flashing and I can't see the WiFi Streaming Example in the WiFi list of my computer. You can see the console output from cfclient in the attached text file. It appears that both decks are detected and I can confirm, from the Loco Positioning tab in the cflclient, that and I can see the nodes in the room and the position of the drone.

Case 2: Setting up Act as Access Point

When I try to set the AI deck as Access Point I can't see it in the WiFi list, even without the Loco Positioning deck. Again, I attached the console output in the text file at the end.

I thought to reflash the example after this. I tried to reflash the GAP8 with a JTAG first, and it appears to be succesful. I attached the terminal output in the file. Unfortunately I could not manage to flash with cfloader flash aideck_gap8_wifi_img_streamer_with_ap.bin deck-bcAI:gap8-fw, as it got stuck at 99% and I get an error that I also attached to the text file.

Case 3: Flashing the latest firmware from the cfclient

I have to mention that flashing the latest firmware from the cfclient with the following steps worked (but of course, in this case, the Loco Positioning deck is not working anymore):

1. Flashing latest firmware using the cfclient
2. Flashing GAP8 with JTAG
3. Flashing WiFi example
4. Running the WiFi example

Any help with this regard will be very helpful.

Here are the console outputs mentioned above:

Console_outputs.txt

[RaresCraciun]

I think I solved the problem. It was because of the Loco Positioning deck. I changed it with another one, and now it works together with the AI Deck.

[enyanil]

Nice solve! Let us know if we can help with anything else.