Adapter Setup

For the Crazyflie Adapter there is a modified CrazyFlie groundstation that must be used to allow communication. This is available in the DANC group in the Custom_CrazyFlie_Software repo in the Matt_test_branch. Clone this repo and navigate into the groundstation-LateralOnQuad. Inside of the src directory open the quadcopterData.cpp file. There are two variables that you have to check: radios and crazyflie_info. For radios everything should be uncommented, and for crazyflie_info make sure that you have the crazyflie that you are intending to use uncommented. The fourth member of the struct is the channel number that specifies that crazyflie, and this should match the piece of tape connected to the crazyflie you are using. Then go to the inc directory in the quadcopterData.hpp and make sure that NUM_RADIOS and NUM_QUADS are set correctly, usually 1. Now from base directory in the groundstation run make and there should be a crazyflieGroundstation that can be run. When run, a socket will be created by the name of crazyflie_groundstation.socket in the same directory. The path to this socket needs to be specified in cf_adapter.c.

HOW TO BUILD:

from the Microcart/groundstation/adapters/crazyflie/ directory

    make clean
    make all

this will compile the adapter to the ./bin directory

TO RUN ADAPTER:

First, turn on the crazyflie you want to use and run the Crazyflie groundstation metioned in Adapter Setup. This will connect to and setup the crazyflie and will prompt you to press enter. Upon doing so move onto the next steps to run the adapter.

NOTE to change where the sockets are located you must change the define statements in ./src/cf_adaper.c

NOTE 2 Running the executables provided use relative links that will be relative to your current working directory.

• Ensure that the socket that the adapter is creating will be at the same location that the groundstation will look (see notes above).
• compile the adapter (see HOW TO BUILD above)
• from the Microcart/groundstation/adapters/crazyflie/ directory run the executable with the following command

    ./bin/cf_adapter