Labbook IMAV
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March 20, 2026
March 19, 2026
- Should try step-by-step.
- Gives the same error as yesterday: with the CrazyFlie ID added, the Dongle is found, still in line 13 of drivers/crazyradio.py it goes wrong.
- I read somewhere that after a firmware flash the CrazyRadio 2.0 works like a CrazyRadio AP. Should try Building firmware.
- The package manager uv cannot be installed with apt, followed the install instructions of the UV project.
- Also apt install just and snap install just didn´t work. Yet, with uv tool install rust-just it works (cross-platform install instructions).
- The build instructions all worked fine, it fails on west flash. I is missing the probe-rs program.
- The red light of the CrazyRadio is flashing, so it is in bootloader mode.
- The firmware I build was version 5.4.0, just like the official release, so dropped that one on the drive. The USB-drive directly disappeared, and the light went white.
- Tested the step-by-step: Yeah, I'm connected! :D.
- Also the synchronous logging (step 2a) works: [337690][]: {'stabilizer.roll': 0.5144103169441223, 'stabilizer.pitch': -0.8400380611419678, 'stabilizer.yaw': -58.93551254272461}
- Asynchronous logging (step 2b) gave 5 seconds of roll, pitch, yaw updates.
- Step3 sets parameter (estimator). Would be cool to change the color of the LED. Changing group to 'led´, name to 'bitmask' indeed lights up a green led opposite the blinking red light
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- Next is the Step-by-Step: Motion Commander.
- Unfortunatelly, the flow deck is not attached. Without a flow deck, the drone will drift fast. Luckely the Lighthouse is such flow deck.
- On the autonomous flight page, also the Loco system is mentioned as experimental setup.
- How to mount those extensions are described in this compatibility pdf. Note that there are also STLs available for a horizontal mount on top (also for the Loco deck). The AI-deck is also possible, but the camera is looking upward (ceiling map!)
- Should check other crazyflie equipment I have. Sure that I have the AI-deck.
- Note that there is a ICRA@40 paper on this localisation with the UWB sensor.
- It is a paper with github code.
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- This autonomous_sequence.py uses an estimator / commander, yet no explicit Flow deck.
- For the AI-Deck example fpv.py the required hardware is listed on top. Seems that lower level hover commands are given.
March 18, 2026
- Assembled the Flapper Nimble+, following the instructions.
- Performed my first flight, with the Crazy Fly Android app. After 4 flights the battery was depleted. Didn't hear start-up beebs, nor battery warning beeps. Should also mount some nets at the ceiling.
- Watch How to fly a Quadcopter video.
- Did not buy a transmitter.
- Should try the control the Flapper with the Crazyradio 2 dongle.
- Checking CrazyFlie Eco-system.
- The loco system can also be combined with ithe roadrunner (old product), which allows to localize your equipement instead of your drone.
- From the laptop, there is an option to use a python interface, or ROS2.
- Lets start with python client.
- First test the CrazyRadio2.
- Following the installation instructions , started with PowerShell for nb-ros.
- Installed Zadig tool.
- Plugged in the CrazyRadio, which is visible as mount D:.
- Yet, I don't see the CrazyRadio in the list of devices. Under Options there is list-devices. When switching off the option Ignore Composite Parents the CrazyRadio 2 shows up. The device has already a driver (usbccgp v 10.0.26100.7705), not sure if I should overwrite that with libusb-win (v1.4.0.0)
- Installation of the cfclient looks simpler for Linux, switch to Ubuntu partition.
- The documentation points to the github of the crazyflie-lib-python (including Lighthouse), but the client can be found at crazyflie-client-python.
- Did also here a development install with pip install -e ..
- When starting cfclient, I see some warnings:
INFO:cfclient.gui:Disabling STL printouts
INFO:cfclient.utils.input.inputreaders:Input readers: ['linuxjsdev', 'pysdl2']
INFO:cfclient.utils.input.inputreaders:Successfully initialized [linuxjsdev]
INFO:cfclient.utils.input.inputreaders:Could not initialize [pysdl2]: No SDL2 support on Linux
INFO:cfclient.utils.input.inputinterfaces:Found interfaces: ['leapmotion', 'wiimote', 'zmqpull']
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [leapmotion]: Leap Motion library probably not installed (No module named 'leapsdk')
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [wiimote]: Missing cwiid (wiimote) driver No module named 'cwiid'
INFO:cfclient.utils.config:Dist config read from /home/arnoud/git/crazyflie-clients-python/src/cfclient/configs/config.json
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [zmqpull]: ZMQ input disabled in config file
INFO:cfclient.utils.zmq_led_driver:ZMQ led disabled in config file
INFO:cfclient.utils.zmq_param:ZMQ param disabled in config file
INFO:cfclient.gui:If startup fails because of "xcb", install dependency with `sudo apt install libxcb-xinerama0`.
INFO:cfclient.utils.input:Using device blacklist [(VirtualBox|VMware|keyd virtual pointer)]
- The client is not working yet. Two problems to be troubleshooted:
- The CrazyRadio should be visible as radio from Select interface. The group was there, maybe change the read/write of the device.
- Connected one of the UGV Rover to my laptop, not sure if this works. The Input Map Xbox mode 2 and 4 at least give the trust on the left knop.
- Looking at usb-permissions.
- Still the radio is not visible after setting the rules. Trying a reboot.
- Reboot didn´t help. In the stdout of cfclient I see:
INFO:cflib.drivers.cfusb:Looking for devices....
INFO:cflib.crtp.prrtdriver:Initialized PRRT driver.
WARNING:cfclient.ui.main:Cannot find a Crazyradio Dongle
- From the dmesg it seems that device /dev/ttyACM0 is used, although it is part of the dailout group, instead of plugdev. Changed the permissions of /dev/ttyACM0, no longer get a warning on the Crayzradio Dongle, but still not see the interface.
- Experimented with an earlier version of the CrazyRadio on October 14, 2013, but under Windows, and only a UART "Hello World" example.
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- Going into the lib-examples. console.py, which also gives Exception('Cannot find a Crazyradio Dongle')
March 9, 2026
March 2, 2026
February 27, 2026
- Checked Chapter 9 (Aerial Robotics) from IEEE RAS University
- Nice description of Aerodynamics, no simulation or hands-on assignments (yet).
- Should continue with section 9.2
February 24, 2026
- The DronEdu proposal is based on the format of the AiRobo project, which organizes a summerschool and a book on Ai & Robotics.
- The project had actually its inaugural AiRobo conference Dec. 2023, so is already running for three years.
- The project is described in a paper presented at World Conference on Educational Media & Technology.
- The final conference of AiRobo will be in October 2026, in Nancy, France. No call for papers yet.
- The AiRobo book seems also not finished yet. It has five chapters, including verification and complex algorithms.
- The most robotic publication from the consortium is A Case Study in Generating 3D Maps with Collaborative Robots, where a Velodyne point-cloud is loaded into a Pepper robot.
February 20, 2026
- The Boson-nighttime dataset is good benchmark for Satellite and Thermal images. See Table 2 from this overview paper. The extended dataset (69 Gb + 121 Gb) is studied in this RAL paper (Oct 2024).
February 5, 2026
- Looking for Drone books at Packt publishing.
- Other publishers:
February 3, 2026
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