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misc:hacks:betaflight [2017-04-07 17:01]
theseankelly [What's Supported] 		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://www.bitcraze.io/]].
 +</WRAP>
 +
 +
 ====== Betaflight for Crazyflie 2.0 ====== ====== Betaflight for Crazyflie 2.0 ======
  
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 ===== 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://github.com/theseankelly/betaflight/commits/cf2|private fork]]. Intent is to merge into Betaflight ASAP once a few bugs in the latest Betaflight are ironed out. 
-</WRAP> 
 Execute the following from a bash shell (uses the same toolchain as the crazyflie-firmware project -- this can be done on the [[projects:virtualmachine:index|Bitcraze]] VM for example) Execute the following from a bash shell (uses the same toolchain as the crazyflie-firmware project -- this can be done on the [[projects:virtualmachine:index|Bitcraze]] VM for example)
-  - git clone https://github.com/theseankelly/betaflight +  - git clone https://github.com/betaflight/betaflight
-  - git checkout cf2+
   - export TARGET=CRAZYFLIE2   - export TARGET=CRAZYFLIE2
   - make   - make
-You should see "betaflight_3.2.0_CRAZYFLIE2.hex" appear in the obj directory of the project.+You should see "betaflight_3.2.0_CRAZYFLIE2.hex" (version number may be newer) appear in the obj directory of the project.
  
 ===== Flashing ===== ===== Flashing =====
 To flash the board, follow the [[https://github.com/betaflight/betaflight/wiki/Installing-Betaflight|Betaflight flashing instructions]]. Be sure to choose 'full chip erase' for the first flash. To flash the board, follow the [[https://github.com/betaflight/betaflight/wiki/Installing-Betaflight|Betaflight flashing instructions]]. Be sure to choose 'full chip erase' for the first flash.
  
-These instructions call for booting with the BOOT0 pin held high to boot the chip into DFU mode. The Crazyflie can be [[projects:crazyflie2:development:dfu|booted in to DFU mode]] without needing to short this pin.+These instructions call for booting with the BOOT0 pin held high to boot the chip into DFU mode. The Crazyflie can be [[projects:crazyflie2:development:dfu|booted in to DFU mode]] without needing to short this pin. Note that the Betaflight configurator will reboot the STM32 after flashing but it will not reset the NRF51 -- the whole board must be power cycled after flashing in order to restore the NRF51's Rx functionality. 
  
 Note: If you've previously installed the libusb-win32 driver on the Crazyflie 2.0 device node using Zadig in Windows, the driver must be changed before it will enumerate as a COM device after flashing. To change the driver, follow these steps: Note: If you've previously installed the libusb-win32 driver on the Crazyflie 2.0 device node using Zadig in Windows, the driver must be changed before it will enumerate as a COM device after flashing. To change the driver, follow these steps:
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 ===== 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/cleanflight configurators, so make sure you're using the latest version of the configurators (or just don't change the serialRx protocol drop down -- it will be a blank white box on earlier configurators 
 +  * PIDs have not been tuned for the crazyflie -- the stock PIDs seem to be doing quite well though.
  
 ===== Configuring Transmitter ===== ===== Configuring Transmitter =====
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 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://github.com/DeviationTX/deviation/commit/3d61a2b6c0968db2b83878c44266293386c2bc18|Deviation]]) is recommended.+Using the new CPPM Emulation commander type (supported in [[https://github.com/DeviationTX/deviation/commit/3d61a2b6c0968db2b83878c44266293386c2bc18|Deviation]]) is recommended because it allows up to 10 additional auxiliary channels.
  
  
misc/hacks/betaflight.1491577261.txt.gz · Last modified: 2017-04-07 17:01 by theseankelly

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