Active marker deck

The Active marker deck is mainly intended to be used together with the Qualisys QTM motion capture system. It provides robust tracking at long ranges by using LEDs instead of passive reflective markers. Each marker has its own unique id that is recognized by the QTM and is used when calculating the 6DOF solution for the rigid body, representing the Crazyflie. Marker IDs can be set from an external computer using the parameter sub system in the Crazyflie.

The deck has its own MCU and is stand alone during normal operation.

• MCU, STM32F031G6
• 4 x high power IR LEDs, SFH4716A, 850 nm
• IR receiver (38kHz carrier)
• 1-wire memory for automatic expansion deck detection
• SWD connector for debugging
• Designed for mounting above the Crazyflie 2.X
• Mechanical specification:
  • Weight: 3.1 g
  • Size (WxHxD): 75x75x5 mm

The pre-flashed firmware on the deck supporting Qualisys active marker IDs is closed source, but the electronic design is open making it possible to adapt to other applications.

Rev D schematic