Crazyflie 2.1 with bigquad deck shut down immediately after take off

[wdliu356]

Hi all
I'm working on some customized firmware with crazyflie 2.1 and bigquad deck. I've verified my firmware with crazyflie 2.1 only already and it is working well. However, when I added bigquad deck, it worked well with low thrust but it shut down automatically when I send a higher thrust command or maybe more aggressive attitude command. Is there any automatic shut-down command built in for the bigquad deck that I didn't realize?

[wdliu356]

I used a new crazyflie 2.1 board and now it cannot run from the very beginning, which means it cannot react to my command at all. So I double checked the source code of the firmware and found out there's a supervisor used in stabilizer.c. I believe that's the reason why it didn't react to my setpoint command. Can you explain in brief how is that working and what might possibly lead to the failure of passing the supervisor.

[wdliu356]

I turned that back on and supervisor.info continuously give me 40 which is flying

[tobbeanton]

I have two hypothothesis.

• The big-quad has a lot of vibrations that couse the supervisor to bahave strangly.
• The big-quad has power supply problems cousing the crazyflie to reset/reboot or drop the link.

if you can not replicate the problem when running on a bara crazyflie it points even more to the above?

[wdliu356]

I thought about the power supply issue before so I added an additional battery that directly powered the flight controller and it didn't solve the problem. So probably not a power issue. Might be a vibration issue but I didn't get any negative feedback from the supervisor. Are you advising me to comment that out for a test? I believe I've done that before but still not doing any help.

[tobbeanton]

If the supervisor triggers you should see this and it will also go into the locked state when it triggers. Are you compiling the firmware with auto-arming or arming-required? So as you say, the supervisor is most likely not the problem. As you say it also works on a normal crazyflie (without big-quad) I'm even more leaning towards a electrical problem. Could e.g. be that something glitches.

One possible test. Can you fly with it manually and see if you trigger the same problem?

[wdliu356]

Yeah that makes sense. I'll keep testing that in the following weeks.