CBL - Campus del Baix Llobregat

Projecte llegit

Títol: Contribución al DEE: Integración del dron Crazyflie en el ecosistema

Estudiants que han llegit aquest projecte:

Director/a: VALERO GARCÍA, MIGUEL

Departament: DAC

Títol: Contribución al DEE: Integración del dron Crazyflie en el ecosistema

Data inici oferta: 31-01-2025     Data finalització oferta: 30-09-2025


Estudis d'assignació del projecte:
    GR ENG SIS TELECOMUN
Tipus: Individual
 
Lloc de realització: EETAC
 
Paraules clau:
Dron, Crazyflie
 
Descripció del contingut i pla d'activitats:
 
Overview (resum en anglès):
This document contains the report on the work carried out as part of the development of a software library, together with two associated applications and a GitHub repository to integrate the Crazyflie 2.1 drone into the EETAC's Drone Engineering Ecosystem (DEE). The motivation for the project stems from the need to carry out indoor flights, which until now were performed with the TELLO drone, which has become obsolete and unsupported, making it necessary to find an alternative.
The main objective of the project has been to adapt the philosophy and working method used through the ArduPilot-based DonLink library to the new platform, developing a set of modules that use the same structures and allow the same actions to be performed, such as connection, takeoff, navigation, flight planning, and safety systems using virtual boundaries, as well as offering control with a joystick. Likewise, the aim has been to generate and collect in the repository the necessary tools to serve as a basis for future students.
The methodology has been divided into several phases. First, a process of learning how the DEE ecosystem works was initiated, taking advantage of the tutorials and the MissionPlanner simulator. The next phase consisted of familiarizing ourselves with Crazyflie, analyzing its operation using the Python cflib library. The third phase focused on adapting the DronLink library to the new CrazyLink library, preserving the structure of compatible modules and reinterpreting those that were not compatible due to the positioning system, for example. Finally, in a phase linked to the previous one, two applications were developed with Tkinter as a testing and demonstration environment, allowing the user to interact with the drone and validate its flight functions.
The results of the project show that Crazyflie 2.1 is a valid alternative to replace TELLO in indoor flights. Although it has physical limitations, such as autonomy and propeller wear, offers a wide range of possibilities thanks to its ecosystem. The CrazyLink library allows the main flight operations to be executed in a stable manner and with low latency. The applications, dubbed ground station and interactive map, allow you to work in an intuitive environment and provide visual support, facilitating control and validation of the drone's behavior. In addition, areas for improvement have been identified to open the door to future students, such as the implementation of geofence policies or the integration of new decks.

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