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Updated the Crazyflie firmware to correctly parse the new package type that...
Paul Beuchat authored 
Updated the Crazyflie firmware to correctly parse the new package type that was implement in the previous commit to the CrazyRadio node. Needs testing, but before testing, the next step is to make the flying agent client easily choose between Vicon or the CF state estimate
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crazyflie-firmware-version-2020-02
README.md
success_building_for_version_2020-02.png
README.md

Instructions for Applying Firmware Patches

The repository that these patches are applicable for is:
https://github.com/bitcraze/crazyflie-firmware

However, it is easiest to locate the official realease versions of the firmware from here:
https://github.com/bitcraze/crazyflie-release/releases

The complete instructions for applying the patch are given separately for each firmware version (currently only one firmware version).

Install Compilation Toolchain

For compilation on Ubuntu 18.04, the toolchain is installed with the following commands:
sudo apt install gcc-arm-none-eabi

For compilation on Ubuntu 16.04, the toolchain is installed with the following commands:
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install libnewlib-arm-none-eabi

Firware Version 2020-02

The hash of the exact commit to which this patch applies is:
e27cd170b7eb8be7ed1cbbc9f5622b469d335d97
As commited on Mon Feb 3 15:04:52 2020 +0100

To apply the patch, use the following sequence of commands:

Step 1: Clone the repository and checkout the appropriate commit:
git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git
cd crazyflie-firmware
git checkout e27cd170b7eb8be7ed1cbbc9f5622b469d335d97
Note that it is also possible to checkout this commit using the commit tag, i.e., using git checkout 2020.02

Step 2: Apply the patch:
git apply <folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-20/firmware_modifications_for_version_2020-20.patch

Now the repository is ready to compile. To do this, first make sure that you have installed the necessary toolchain as described above (Install Compilation Toolchain).

Step 3: In the crazyflie-firmware folder where you applied the patch, compile the firmware using the following command:
make PLATFORM=cf2

If everything is successful, you will see something like this:



This should have created the binary file cf2.bin.

Step 4: upload the binary to the crazyflie processor by following the instructions given here:
https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw
Instructions are also given in the wiki of this repository under: /wiki/setup.md#firmware

The pre-compiled binary files are already included in this repository. To update the firmware of just the main processor, select the file: <folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/cf2-2020.02_withDfallPatch.bin

To update the firmware of both the main processor and the nrf processor, select the file:
<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/firmware-cf2-2020.02_withDfallPatch.zip