Support for Brushless Crazyflie#168
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spencerfolk wants to merge 7 commits intoKumarRobotics:masterfrom
Draft
Support for Brushless Crazyflie#168spencerfolk wants to merge 7 commits intoKumarRobotics:masterfrom
spencerfolk wants to merge 7 commits intoKumarRobotics:masterfrom
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Converted PR to draft. @kashishkebab9 and I discovered this seems to break functionality with the original Crazyflie because the "arm" command that's implemented here causes the original Crazyflie to timeout. Need to figure out how to identify if using a brushless Crazyflie or a regular Crazyflie. Maybe we just move all these changes to a new brushless Crazyflie interface in |
Adding flag for CTBR messages
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What is the status of this? |
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@fcladera I've been using this build for a while now I think it's good. GS! |
fcladera
approved these changes
Oct 8, 2025
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Added support for the brushless Crazyflie in
interfaces/kr_crazyflie_interface. Unlike the brushed version, the brushless Crazyflie has to be armed before the motors can spin. To get around this, the Crazyflie interface now sends custom arming/disarming packets when Motors On and Motors Off are pressed.Currently, when the drone is disarmed its internal state machine enters a locked state where a reboot is required (unsure if this is by design). The workaround is to send a reboot packet when Motors Off is pressed. During the reboot process, Motors On does not work, so the button is disabled for 3 seconds.
This code was tested on both the brushed and brushless Crazyflies.