misc:hacks:betaflight
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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misc:hacks:betaflight [2017-04-12 23:32] theseankelly [Flashing] |
misc:hacks:betaflight [2021-06-24 16:43] (current) kimberly |
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| + | <WRAP center round important 60%> | ||
| + | This page has deprecated and will be archived. Please go to [[https:// | ||
| + | </ | ||
| + | |||
| + | |||
| ====== Betaflight for Crazyflie 2.0 ====== | ====== Betaflight for Crazyflie 2.0 ====== | ||
| Line 19: | Line 24: | ||
| ===== Building ===== | ===== Building ===== | ||
| - | <WRAP center round info> | ||
| - | TEMPORARY: As of this writing, the changes for the Crazyflie 2.0 target have not been merged back into the Betaflight repo -- temporarily working out of a [[https:// | ||
| - | </ | ||
| Execute the following from a bash shell (uses the same toolchain as the crazyflie-firmware project -- this can be done on the [[projects: | Execute the following from a bash shell (uses the same toolchain as the crazyflie-firmware project -- this can be done on the [[projects: | ||
| - | - git clone https:// | + | - git clone https:// |
| - | - git checkout cf2 | + | |
| - export TARGET=CRAZYFLIE2 | - export TARGET=CRAZYFLIE2 | ||
| - make | - make | ||
| - | You should see " | + | You should see " |
| ===== Flashing ===== | ===== Flashing ===== | ||
| Line 43: | Line 44: | ||
| ===== Configuring Betaflight ===== | ===== Configuring Betaflight ===== | ||
| - | The defaults after flashing should be sufficient for flight. | + | The defaults after flashing should be sufficient for flight. |
| + | |||
| + | Some things of note: | ||
| + | * It's suggested to change the brushed motor PWM to something higher to reduce audible noise - 24khz works well. | ||
| + | * Configured to use a TARGET_CUSTOM serial Rx protocol - this is a new feature in betaflight for the crazyflie so that the NRF51 firmware does not need to change. This option was very recently added to the betaflight/ | ||
| + | * PIDs have not been tuned for the crazyflie -- the stock PIDs seem to be doing quite well though. | ||
| ===== Configuring Transmitter ===== | ===== Configuring Transmitter ===== | ||
| Line 50: | Line 56: | ||
| To use a client that uses the legacy commander packet type (cfclient, mobile apps, older versions of DeviationTx) ensure the max roll/pitch angles are set to 50.0 degrees and the max yaw rate is set to 400deg/s. The handler for this packet type rescales the degree setpoint into a PWM-style value (range of 1000-2000) and assumes these values as max values when making the conversion. Using other values should work but might produce unexpected results. | To use a client that uses the legacy commander packet type (cfclient, mobile apps, older versions of DeviationTx) ensure the max roll/pitch angles are set to 50.0 degrees and the max yaw rate is set to 400deg/s. The handler for this packet type rescales the degree setpoint into a PWM-style value (range of 1000-2000) and assumes these values as max values when making the conversion. Using other values should work but might produce unexpected results. | ||
| - | Using the new CPPM Emulation commander type (supported in [[https:// | + | Using the new CPPM Emulation commander type (supported in [[https:// |
misc/hacks/betaflight.1492032735.txt.gz · Last modified: 2017-04-12 23:32 by theseankelly
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