server cpp bug helloworld latest firmware crazyflie

[knmcguire]

Hi!

During release testing I noticed that the hello world example of Crazyswarm2 is not working anymore.

How to recreate

1. Flash Crazyflie with the latest master or the 2023.10-rc1 release: https://github.com/bitcraze/crazyflie-firmware
2. Run the cpp link backend server with
   ros2 launch crazyflie launch.py
3. Run helloworld with
   ros2 run crazyflie_examples world

symptoms

• Crazyflie stays grounded, no response
• The hello_world script freezes
• No error on the server side, all seem normal

Additional info

• Cflib backend seem to work (backend:=cflib) but that one has some issues of itself as well: cflib implement notify setpoint stop  #308. Maybe related?

[knmcguire]

The plot thickens!

So when I just flashed the lastest crazyflie-firmware on a random crazyflie, it worked... just to test my own sanity I did the following tests with cpp backend + helloworld

• 2023.07 - works
• then flash with master crazyflie-firmware (leaving the nrf the same) - works
• 2023.10-rc1 (latest master firmware of both nrf and stm) - freeze

All of these still worked on the cflib backend.

But... then it might be something in the nrf somehow? Anyway I've got the zip file here that fails (I removed the candidate release since I don't want it to turn on every bodies cf client)

firmware-cf2-2023.10-rc1.zip

[knmcguire]

So the only PR that is between some releases ago and the NRF is this one bitcraze/crazyflie2-nrf-firmware#91... can't see what should be causing it though

[knmcguire]

Alright, another development that brings us closer hopefully:

I've now moved to the nrf firmware for debugging. If I make the standard CF2 (with BLE and S110 still on):

make BLE=1 S110=1 -j12

take off with cpp backend freezes

If I disable BLE and S110:

make BLE=0 S110=0 -j12

It works! So it must be something going on in those if statements

[krichardsson]

I found a difference in the NFR, try bitcraze/crazyflie2-nrf-firmware#92 to see if it fixes the problem

[knmcguire]

thanks @krichardsson ! I can test it out shortly next week or after the 12th

[knmcguire]

just testflown it and it works again! thanks @krichardsson