This flight control firmware is built on the Hopter embedded operating system, developed for the Crazyflie 2.1 miniature drone. Its structure closely follows that of the official firmware, which was developed using FreeRTOS.
To operate correctly, the firmware requires the drone to be equipped with the Flow Deck V2. This deck features theVL53L1x ToF sensor that measures the distance to the ground and the PMW3901 optical flow sensor that measures movements in relation to the ground. In addition, the firmware relies on the BMI088 inertial measurement unit to provide data on acceleration and angular velocity.
First, follow the instructions provided by Hopter to install the custom Rust compiler toolchain.
Next, run make to build the program. The firmware expects the drone to have the bootloader installed.
To flash over radio, run make cload.
To flash over wire, run make load.
For safety reasons, the propellers will not turn unless the FLY constant in flight_tasks/crtp_rx.rs is set to true.
Currently, the flight control commands are hard-coded in the firmware.
The program commands the drone to hover for 10 seconds at an altitude of 0.5 meters.