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Connector for MAVLink on Crazyflies running PX4

License: MIT License

CMake 10.63% Makefile 0.34% Python 14.58% C++ 74.45%

cf2 crazyflies crazyradio-pa mavlink px4

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cfbridge's Issues

cfbridge.py vs cfbridge c++

Hi,
I am using your cfbridge.py that seems to work better (i.e. with less than 0.5% data loss) as compared to the cpp source code while communicating with crazyflie using crazyradio PA. The only modifications I made was to set the number of retries in radiodriver.py to 3 and to only send CRTP messages containing mavlink packets to QGC in here i.e. by checking if the pk.port== CRTP_PORT_MAVLINK

I will open a PR soon for these changes once bitcraze replies how I can set_arc using their crazyflie class and hence in cfbridge rather than hardcoding in radiodriver.py

Data loss while sending msgs from QGC to Crazyflie (via cfbridge c++) is around 5-7% , even with sending joystick commands at 5Hz. This seems to be the significant factor in creating issues with radio communication, such as arming/disarming command is not received by crazyflie. However, cfbridge.py works fine with the modifications discussed above, changes in syslink, and in QGC to send joystick messages at constant rate of 10Hz (will open a PR soon).

Feature Request: Command Line Specification of Host / Port

It would be nice to add optional command line args for specifying a host / port other than localhost:14550. As it is now, I have my own hack which modified the cfclient_open function, and added optional vars to the Makefile like so

$make run DEST=<host ip address>

This would add desirable flexibility, particularly for people working in mixed OS environments, such as with a host machine and guest vm.

I would be happy to implement this on a branch for you to test.

cfbridge connected but cannot roslaunch mavros

Hi , I want to put px4 software on the crazyflie 2.0
and I follow this instruction
https://docs.px4.io/en/flight_controller/crazyflie2.html#quick-summary

I have done to the step that
cfbridge can make run and the console show connected
and now I have some problems:

I cannot roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14555" in ROS
It show error like this

ncrl@ncrl-VirtualBox:~/cfbridge$ roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14555"
... logging to /home/ncrl/.ros/log/f845a84c-b55b-11e7-829b-0800273f37ab/roslaunch-ncrl-VirtualBox-17411.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ncrl-VirtualBox:41977/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_url: udp://:14550@127....
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[mavros-1]: started with pid [17430]
[FATAL] [1508479805.283950117]: UAS: GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm | Run install_geographiclib_dataset.sh script in order to install Geoid Model dataset!
================================================================================REQUIRED process [mavros-1] has died!
process has finished cleanly
log file: /home/ncrl/.ros/log/f845a84c-b55b-11e7-829b-0800273f37ab/mavros-1*.log
Initiating shutdown!
================================================================================
[mavros-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Is it normal that when I turn on the crazyflie2.0 than the propellers start to rotate constantly?

the firmware version is
https://github.com/dennisss/Firmware branch：cf2-rc
Is this version correct?

when cfbridge connected successfully , I cannot see my cf2 in QGC , am I really connect successfully?

I will thank you for your replying

cfbridge doesn't run properly

Hi,

I've been trying to run cfbridge and use a joystick to control my CF2.

While CF2 is connected to the computer via USB, everything seems to be working fine. I can calibrate sensors, even arm/disarm and switch flight modes. So I think the firmware side should be working fine. But once I disconnect the USB cable, I couldn't get the cfbridge to run properly with PA radio. The command line output is either
"Waiting for messages...
error in transfer: LIBUSB_TRANSFER_TIMED_OUT"
or nothing at all. I can use my cellphone to connect to CF2 but I cannot control it using the screen touch pads. I think maybe it's because the quad is not armed.

BTW, I'm using Ubuntu 14.04 64-bit.

Any suggestions?

Thanks,
rxdu

i can't build cfbridge

hi,

when i try to build cfbridge, there is an error:

[ 25%] Building CXX object CMakeFiles/bridge.dir/src/bridge.cpp.o
/home/zbf/cfbridge/src/bridge.cpp: In member function ‘void Bridge::run()’:
/home/zbf/cfbridge/src/bridge.cpp:109:28: error: ‘libusb_free_pollfds’ was not declared in this scope
libusb_free_pollfds(usbfds);
^

how can i solve it?

bind failed: Address already in use

Hi, I'm trying to setup the cfbridge and I'm getting the following "bind failed: Address already in use Failed to open client"

I have tried changing to different addresses and I can't make it work. Any suggestions would be greatly appreciated.

Thanks!

can we have cfbridge.py in crazyflie-lib-python folder

Hi Denniss,

I have created a PR for crazyflie-lib-python to include cfbridge.py in it. This will allow users to use cfbridge.py with cflib. Needed your approval on it.

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