This project contains the source code for the TinyMPC-integrated firmware used in the Crazyflie 2.1. Nothing like these have existed before in the Crazyflie 2.1.
Step 1: git clone --recursive [this repo]
Step 2: Modify Makefile to avoid compile errors
ifeq ($(CONFIG_DEBUG),y)
ARCH_CFLAGS += -O0 -Wconversion
else
# ARCH_CFLAGS += -Os -Werror
ARCH_CFLAGS += -Ofast -fsingle-precision-constant -DNDEBUG
endifStep 3: go to examples/controller_tinympc_task
Step 4: make -j8
Step 5: cfloader flash ./build/cf2.bin stm32-fw -w radio://0/80/2M/E7E7E7E701
Step 1: rosbag record -o [PREFIX] -a