So we did it again, forgot to post our Monday post on Monday. Are we getting sloppy or maybe it was the 16 hour travel to US that put us off track, well we need to shape up anyway! :) This Tuesday we have been visiting the USC robotics labs, more about that will come on a later post. Thanks Wolfgang for organising our visit and everybody for showing us around.

So now it is all about Maker Faire Bay Area for us. We have been putting in a lot of time to get the demos working and now we are getting really close. The autonomous control with Kinect 2 is starting to work but we must say, tuning the position PID controllers has turned out to be hard but we have some basic hovering working.

We have also been working on some LED-ring and buzzer control from the PC side. That is working really well and it is all setup using 0MQ to the cfclient. We are now able to play MIDI over the Crazyradio to the Crazyflie: MIDI -> 0MQ -> cfclient -> Crazyradio -> Crazyflie -> buzzer & LED-ring.

As soon as  we are back from Maker Faire we will make all the code available (because now it is in the quick and dirty stage)!

So once again, we would love to meet up so please come and visit ut as at our booth at the Maker Faire Bay Area!

Yes, next week we are packing our bags and traveling the ~8500 Km from Malmö, Sweden to visit the Maker Faire Bay Area outside San Francisco and it is going to be great!

We are planning some nice demos including autonomous flight with kinect2 and wireless computer controlled light effects using the LED-Ring so be sure to check us out! We are really looking forward to this event and we really hope you can pay us a visit if you are attending the Faire!

This weeks Monday post is a guest post written by Wolfgang Hoenig from University of Southern California.

What’s better than a single Crazyflie? A swarm of them! Our research group at the University of Southern California is the Automatic Coordination of Teams (ACT lab), and we research collaborative problem-solving with multiple robots. The Crazyflie is a great platform for research because of its openness and extensibility; additionally, the size allows us to test algorithms on a swarm of robots even in space-limited indoor environments.

Picture of the lab taken when 6 Crazyflie 2.0 are flying. Crazyflie are a bit small so an ellipse is drawn around them.

After obtaining 6 Crazyflie 2.0 quadcopters and 1 Crazyflie 1.0 for our lab, we started looking into how to fly them at the same time — a basic requirement for any swarm experiments. The official Bitcraze GUI can only connect to a single Crazyflie at a time, although the underlying library comes with basic MultiFlie support. In particular, there is an URI (Uniform Resource Identifier), which has the following format if you connect using the Crazyradio: “radio://<radioIndex>/<channel>/<datarate>”. Here, radioIndex is a number starting from 0 for each attached Crazyradio, the channel is a number between 0 and 125 describing the frequency, and datarate is either 250K, 1M, or 2M. The obvious solution is to just buy one Crazyradio per Crazyflie and use separate radio indices in the URI. To avoid any form of interference, different channels need to be chosen as well. This approach has two drawbacks:

1. The number of Crazyradios increases pretty fast, and using 7 radios for 7 Crazyflies definitely becomes unwieldy.

2. The 2.4 GHz band becomes occupied – finding enough free frequency bands might not be easy if there are many other networks, such as Wifi or BlueTooth, around.

Bitcraze addressed the first issue a long time ago, by allowing to use a single radio for multiple Crazyflies. This approach uses PC-sided timeslicing: The radio sends a packet to the first flie and waits for an acknowledgment. Afterwards it switches the channel to the next one, and so on. The higher level requests are stored in a queue in Python, with a separate thread for each radio working on the queue. The code lived in its own branch and wasn’t updated for a while, but merging this branch with the master branch was fairly easy. There were a bunch of race conditions in the code, but most of them are hopefully fixed in my branch.

The second issue can only be solved by extending the URI itself by another unique number.

Luckily, the underlying communication protocol (Enhanced ShockBurst) by Nordic Semiconductor does have a notion of addresses. The address can be up to 5 bytes long and was simply set to 0xE7E7E7E7E7 for each Crazyflie. Making this number configurable is easy, but touches many different places in the code. It was implemented specifically for the Crazyflie 2.0, so the following discusses how it works:

1. NRF-Firmware: This firmware runs on the NRF51, the chip which manages the power and integrates the radio. The address can be set in here, but where should we get the value from? I simply mimicked the code for setting the channel, as this was already a feature of the firmware.

In this case, the data comes from the syslink interface, which is a simple serial connection between the NRF51 and the STM32, the second microcontroller which runs the control algorithm.

2. STM32-Firmware: This firmware has access to an EEPROM, which is able to store configuration data permanently, even during power loss. That EEPROM currently stores trim values for roll and pitch, channel, and datarate. Adding another field for the address was easy — Bitcraze even already had a version field and checksum which improves the behavior if the firmware is updated.

3. Python Client: The Python client required three changes:
   1. Adding another configuration option field to allow a 5 byte device address. I basically copied the code for handling the channel again, plus did some additional UI work to allow a user to input hexadecimal numbers.

   

   2. Updating the URI to “radio://<radioIndex>/<channel>/<datarate>/<address>”, where address is a 5-Byte hexadecimal number. For compatibility, the following URIs are equivalent: “radio://0/80/250K” and “radio://0/80/250K/0xE7E7E7E7E7”. This allows all existing code to work exactly like before.
   3. Adding an input field in the connect dialog to select an address. Scanning over all possible addresses isn’t feasible: There are 2^40 different possibilities!

   

What does this mean in practice?  That it’s now possible to control 6 Crazyflies just with 3 radios.

All these changes are already part of the official repositories; however, you’ll need the multi_radio branch to use multiple flies per radio.

And there’s even more to look forward to: An improved firmware of the Crazyradio could greatly improve the performance of the timeslicing and thus allow us to control more flies with fewer radios. Luckily, Bitcraze has already started working on it.

If you’re a researcher and use ROS, you can use our ROS driver to create your own CrazySwarm. It supports Crazyflie 1.0, Crazyflie 2.0, and the Multi-Radio and Multi-Addressing described above. It even comes with a controller to use with a motion capture system!

Have fun flieing!

Wolfgang Hoenig
PhD Student
Automatic Coordination of Teams Laboratory
University of Southern California

If you haven’t already noticed, you’re not on bitcraze.se. You’re actually on bitcraze.io (and on HTTPS). After a long week of researching, testing and holding our breaths, we’re finally on our new domain. You would think that it’s not very complicated, but as always the hole is deeper than you think… We will keep our old bitcraze.se address for a long time to come, but it will be redirecting to the io domain (this includes email). The only thing we have left to move is the forum, and it’s on it way.

A couple of weeks ago we wrote about our Monday post tradition where we post a blog-post every Monday. Sometimes we spend lots of time testing and documenting to come up with something to write, and sometimes it’s just a quick note. And that’s the way it’s been for years. But last week one of our community members (Wolfgang) offered to write a post about what he’s been up to in the USC ACT-lab. We were really excited about the offer and it spawned the idea of letting more people write guest posts. We’re really happy to see that there’s lots of interesting things happening in the community and we would really like people to get a chance to show off what they have been working on.

So if you’re working on something with your Crazyflie and would like to write a blogpost about it, drop us an email and we can see if we can fit it in!

When we were developing the Crazyflie, going from our hackish prototype to a production version, we decided to start posting a blog-post every week. Back then we always used to meet after work on Mondays to work on our project, so we named our “once-a-week” update “Monday posts”. The purpose of the posts was to show that things were happening behind the scenes, even if things looked pretty quiet. Developing something from scratch takes a lot of time and there’s not always something interesting happening, so the Monday-posts covered all sorts of things related to the project. We’ve written about the good times, the bad times and everything in between; covering tech, manufacturing, our community and trips that we’ve done.

It’s not always easy to come up with something to write about every week. Sometimes we spend lot’s of time investigating and writing about something (like RPM measurements part 1, 2 and 3) and sometimes it’s just a quick note about what’s happening. But we’ve made a point of always posting something (even on Christmas eve), and have been doing so every Monday since January 2012. So we were a bit shocked this week when we realized that it was Tuesday and we have missed posting something yesterday. But don’t worry, we’re still here and things are still happening :-)

Next month we will be attending the Bay Area Maker Faire. Last fall we visited the Maker Faire in Rome and really liked it! While there we met people from Make that invited us to the Bay Area for the next Maker Faire. It’s an awesome event with lots of technology and geeks around, so we’re really looking forward to it!

In other news we will be switching domain shortly to our bitcraze.io domain and also switching on SSL for the blog/wiki/forum. Our old bitcraze.se will still be around linking to the same site. The move is planned for this week, but like always there might be something else happening that postpones it.

Don’t forget that we still have the CCW-propeller replacement running. So if you have a Crazyflie 2.0 from the first batch and you are having issues with your propellers, then fill in the form and we will ship you a set of replacement propellers.

We have finally managed together with Seeedstudio to improve the CCW propellers and to setup a process to acquire a free set of CCW replacement props. As continuing from this post we have discovered that many of the CCW propellers from the first batch of Crazyflie 2.0 where a bit too unbalanced. Too be a bit more technical the tolerance distribution for the CCW propellers was a bit offset, so instead of the majority being decently balanced, many where unbalanced and needed balancing. This is not really a big issue and can pretty easily be corrected by balancing them with some tape according to this guide and we still recommend them to be balanced to get the best flight performance. We however think there where to many unbalanced propellers so we offer every one that bought a Crazyflie 2.0 kit from the first batch a free set of CCW propellers including shipping from China. To acquire a free set of CCW propellers please fill in this form.

Today we were supposed to post the next part of the RPM measurements. But since we are’t finished with the analysis yet we thought that we would post some info on what we are working on. Since Christmas we have been working on and off on a new architecture for the input devices in the Crazyflie Python client. A while back we started discussing the possibility of “hooking in” different backends that could be used for input data like LeapMotion, Gamepads, sockets and so on. It’s something that we have been wanting to do for a while, but other things have always been prioritized. But during Christmas a forum request triggered the work. Users wanted to be able to change the LED-ring effects directly from the controller. We had some code for this lying around, but since the switch from PyGame to PySDL and Linux devices this wouldn’t merge easily. So we thought we might as well take this opportunity to implement what we wanted :-)

Below is a brief overview of the architecture and a description of the different parts:

Crazyflie Python client input device architecture

Each backend is implemented as a single Python file in the directory /lib/cfclient/utils/inputreaders. When the application starts up each of the files are picked up and initialized, so for anyone that wants to create their own backend it’s pretty easy. A list of successfully initialized backends is created. Once the application is started a scan of the input devices will be requested. Each of the backends will do it’s own scanning and together a big list of available devices will be created. Each of these implement a specific API for opening, closing, scanning and reading the device by using their respective backends. The higher layer (Input) now has a list of available devices that it can open and read. But to make sense of the data read from the devices a mapping needs to be created to set which axes/buttons effect what parameters. There’s a number of parameters that can be changed, the main ones being roll/pitch/yaw/thrurst for controlling the Crazyflie. In order to make the mappings as flexible as possible each mapping has a scale and offset. It’s also possible to split axis, so two axis on the device can effect the same parameters (like having yaw on bumper buttons). Normally (for PySDL2 and linuxjsdev) all axis are between -1 and 1 and buttons are either 0 or 1. But using the mappings it’s possible to have other values, like for the LeapMotion. When the LeapMotion is read it return the roll/pitch/yaw/height as read from the device. Using the mappings offset and scaling these values are transformed into usable values for roll/pitch/yaw/thrust. Here’s a step by step walkthough of how a device is read:

• Input: Each 10 ms the open device is read
• InputDevice: Asks the backend for reading the device
• Backend: When read two arrays are updated, one for the buttons and one for the axes. If the device is event based all the events are consumed before updating
• InputDevice: Takes the raw values from the backend, iterates though them and updates a list of highlevel parameters accordingly. This returns a dictionary with keys like roll/pitch/yaw/thrust
• Input: Pre-processes the values of the parameters, like only calling callbacks when there’s a state shift (button 0->1 or 1->0), slew-rate limiting the thrust, dead-band and trimming
• Input: Calls special callbacks (such as alternative functions and emergency stop)
• Input: Calls callbacks registered for control data (roll/pitch/yaw/thrust). For this there are two registered callbacks, the UI and the Crazyflie object (crazyflie.commander.send_setpoint(…))

So how does this help the original problem of setting parameters from buttons? In this change we have also included two new buttons, alt1 and alt2. These can be mapped just like any other buttons in the configuration dialog. When these buttons are toggled (0->1 and 1->0) all the registered callbacks are called. The idea is not mapping them graphically to specific parameters, it’s for enabling users to easily (with one line of code) register for these and be able to act on them. For instance setting the LED-ring headlights on/off or changing the effect of the LED-ring.

When we are poking around in the code we are also looking at fixing some other issues, like how to handle when Bluetooth controllers go out of range (see this topic in the forum). We are hoping that everything will be finished and merged when the next release of the client. Also a big thanks to everyone that’s contributed code for the input reading, it’s made things a lot easier!

Today we also released new firmware for the Crazyflie 1.0 and a new Crazyflie Python Client. We have now fixed the client compatibility issues between the Crazyflie 1.0 and 2.0. We are also happy to report that next week the LED-ring and the Crazyradio PA should be back in stock.